Elmo DSP 402 manual Position

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

5

Name	Index	Description	Access	Mappable?
Position	0x6068	Defines the time in which the position	R/W	N
window time		within the position window indicates
		target reached.
Velocity sensor	0x6069	Actual velocity as calculated from the	R	Y
actual value		main velocity sensor, in increments.
Velocity sensor	0x606A	Selects the velocity sensor reading	R/W	N
selection code		from either the position or the
		velocity sensor.
Velocity	0x606B	Demand value for velocity controller.	R	Y
demand value
Velocity actual	0x606C	Actual velocity from either position	R	Y
sensor		or velocity sensor.
Velocity	0x606D	Monitors whether required target	R/W	N
window		velocity was achieved.
Velocity	0x606E	Defines the time in which a target	R/W	N
window time		velocity is considered as reached.
Velocity	0x606F	Defines the value in which the	R/W	N
threshold		velocity is considered to be 0.
Velocity	0x6070	Defines (with object 0x607F) the time	R/W	N
threshold time		in which the velocity is considered to
		be 0.
Target torque	0x6071	The input value for the torque	R/W	Y
		controller in profile torque mode.
Max torque	0x6072	The maximum permissible torque in	R/W	N
		the motor.
Max current	0x6073	The maximum permissible torque	R/W	N
		creating current in the motor.
Torque demand	0x6074	The maximum permissible torque	R	N
value		creating current in the motor.
Motor rated	0x6075	This value is taken from the motor	R/W	N
current		nameplate.
Motor rated	0x6076	This value is taken from the motor	R/W	N
torque		name plate.
Torque actual	0x6077	The instantaneous torque in the drive	R	Y
value		motor.
Current actual	0x6078	The instantaneous current in the	R	Y
value		drive motor.
Profiled target	0x607A	Defines target position for absolute or	R/W	Y
position		relative point-to-point motion.
Position range	0x607B	Sets the limits in which the position	R/W	N
limit		numerical values are available.