ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 12)

Name Index Description Access Mappable?
Homing offset 0x607C Defines offset from homing zero
position to application zero position.
R/W N
Software
position limit 0x607D Defines limits for demand position
value and actual position value.
R/W N
Polarity 0x607E Sets polarity for position or speed
command and actual value. R/W Y
Max profile
velocity 0x607F Defines limit to which a profile
velocity speed is saturated. R/W N
Profile velocity 0x6081 Sets the speed for the profile position
motion. R/W Y
Profile
acceleration 0x6083 Defines the acceleration for the
profile velocity and profile position
motion. R/W Y
Profile
deceleration 0x6084 Defines deceleration for profile
velocity and profile position motion. R/W N
Quick stop
deceleration 0x6085 Sets the deceleration for a quick stop
state. R/W N
Motion profile
type 0x6086 Defines method by which profile
motion is evaluated (linear or jerk) R/W N
Torque slope 0x6087 the rate of change of torque R/W Y
Torque profile
type 0x6088 Used to select the type of torque
profile used to perform a torque
change. R/W N
Position
notation index 0x6089 Used to scale position objects. R/W N
Position
dimension index 0x608A This object defines the position
dimension index.
R/W N
Velocity
notation index 0x608B This is defined by the physical
dimensions and calculated by unit type. R/W N
Velocity
dimension index 0x608C This is used together with the velocity
notation index to define a unit.
R/W N
Acceleration
notation index 0x608D The unit is defined by the physical
dimensions and calculated by unit
type and exponent
R/W N
Acceleration
dimension index 0x608E This defines the acceleration
dimension index, which is used
together with the acceleration
notation index (object 0x608D) to
define a unit R/W N
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
6