ElmoMC CANopen DSP 402 Implementation Guide User Manual
ElmoMC Hardware
Table of contents
Document Outline
- Revision History
- Introduction
- The DSP 402 Object Dictionary
- Emergencies
- Predefinition
- Common Entries
- Device Control
- Modes of Operation
- Factors
- Relationship between Physical and Internal Units
- Functions and Limits
- Objects
- Object 0x607E: Polarity
- Object 0x6089: Position notation index
- Object 0x608A: Position dimension index
- Object 0x608B: Velocity notation index
- Object 0x608C: Velocity dimension index
- Object 0x608D: Acceleration notation index
- Object 0x608E: Acceleration dimension index
- Object 0x608F: Position encoder resolution
- Object 0x6090: Velocity encoder resolution
- Object 0x6093: Position factor
- Object 0x6094: Velocity encoder factor
- Object 0x6095: Velocity factor 1
- Object 0x6096: Velocity factor 2
- Object 0x6097: Acceleration factor
- Object 0x607E: Polarity
- Homing
- General Information
- Objects
- Functional Description
- DSP 402 Homing Methods
- Method 1: Homing on the negative limit switch and index puls
- Method 2: Homing on the positive limit switch and index puls
- Methods 3 and 4: Homing on the positive home switch and inde
- Methods 5 and 6: Homing on the negative home switch and inde
- Methods 7 to 14: Homing on the home switch and index pulse
- Methods 15 and 16: Reserved
- Methods 17 to 30: Homing without an index pulse
- Methods 31 and 32: Reserved
- Methods 33 and 34: Homing on the index pulse
- Method 35: Homing on the current position
- Position Control Function
- Profiled Position
- General Information
- Objects
- Object 0x607A: Target position
- Object 0x607B: Position range limit
- Object 0x607D: Software position limit
- Object 0x607F: Max profile velocity
- Object 0x6081: Profile velocity
- Object 0x6082: End velocity (not yet implemented)
- Object 0x6083: Profile acceleration
- Object 0x6084: Profile deceleration
- Object 0x6085: Quick stop deceleration
- Object 0x6086: Motion profile type
- Object 0x607A: Target position
- Functional Description
- Interpolated Position
- Profiled Velocity
- Profiled Torque Mode
- General Information
- Objects dictionary entries
- Objects defined in other chapters
- Objects description
- Object 0x6071: Target torque
- Object 0x6072: Max torque
- Object 0x6073: Max Current
- Object 0x6074: Torque Demand value
- Object 0x6075: Motor Rate Current
- Object 0x6076: Motor Rate Torque
- Object 0x6077: Torque Actual value
- Object 0x6078: Current Actual value
- Object 0x6087: Torque slope
- Object 0x6088: Torque profile type