Elmo DSP 402 manual 10.1

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

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8: Factors		38
8.1	Relationship between Physical and Internal Units	38
8.2	Functions and Limits	38
8.3	Objects	39
	Object 0x607E: Polarity	39
	Object 0x6089: Position notation index	40
	Object 0x608A: Position dimension index	40
	Object 0x608B: Velocity notation index	41
	Object 0x608C: Velocity dimension index	42
	Object 0x608D: Acceleration notation index	42
	Object 0x608E: Acceleration dimension index	43
	Object 0x608F: Position encoder resolution	44
	Object 0x6090: Velocity encoder resolution	45
	Object 0x6093: Position factor	46
	Object 0x6094: Velocity encoder factor	47
	Object 0x6095: Velocity factor 1	48
	Object 0x6096: Velocity factor 2	49
	Object 0x6097: Acceleration factor	51
9: Homing		53
9.1	General Information	53
9.2	Objects	55
	Object 0x607C: Home offset	55
	Object 0x6098: Homing method	56
	Object 0x6099: Homing speeds	57
	Object 0x609A: Homing acceleration	58
9.3	Functional Description	58
9.4	DSP 402 Homing Methods	60
	9.4.1 Method 1: Homing on the negative limit switch and index pulse	60
	9.4.2 Method 2: Homing on the positive limit switch and index pulse	60
	9.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse ....	61
	9.4.4 Methods 5 and 6: Homing on the negative home switch and index pulse ...	61
	9.4.5 Methods 7 to 14: Homing on the home switch and index pulse	62
	9.4.6 Methods 15 and 16: Reserved	63
	9.4.7 Methods 17 to 30: Homing without an index pulse	63
	9.4.8 Methods 31 and 32: Reserved	63
	9.4.9 Methods 33 and 34: Homing on the index pulse	63
	9.4.10 Method 35: Homing on the current position	63
10: Position Control Function		64
10.1	General Information	64
10.2	Objects	65
	Object 0x6062: Position demand value	65
	Object 0x6063: Position actual value	65
	Object 0x6064: Position actual value	66
	Object 0x6065: Following error window	66
	Object 0x6066: Following error time out	67
	Object 0x6067: Position window	68
	Object 0x6068: Position window time	68
	Object 0x60FC: Position demand value - increments	69