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ElmoMC CANopen DSP 402 Implementation Guide User Manual

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Contents

1: Introduction ............................................................................................................................ 1

1.1

Operating Principles......................................................................................................... 1

1.2

Abbreviations and Terms................................................................................................. 2

1.3

Elmo Documentation........................................................................................................ 3

2: The DSP 402 Object Dictionary ........................................................................................... 4

3: Emergencies ............................................................................................................................ 9

4: Predefinition ........................................................................................................................... 9

Object 0x1000: Device type .............................................................................................. 9

Object 0x1001: Error register............................................................................................ 9

5: Common Entries ....................................................................................................................12

5.1

Drive Error........................................................................................................................12

Object 0x6007: Abort connection option code.............................................................. 12

Object 0x603F: Error code .............................................................................................. 13

5.2

Motor Data........................................................................................................................13

Object 0x6402: Motor type.............................................................................................. 13

Object 0x6403: Motor catalog number .......................................................................... 14

Object 0x6404: Motor manufacturer.............................................................................. 15

Object 0x6406: Motor calibration data .......................................................................... 15

Object 0x6407: Motor service periods ........................................................................... 16

5.3

Drive Data.........................................................................................................................16

Object 0x6502: Supported drive modes ........................................................................ 17

Object 0x6504: Drive manufacturer............................................................................... 17

Object 0x6505: http drive catalog address .................................................................... 18

Object 0x60FD: Digital inputs........................................................................................ 18

6: Device Control.......................................................................................................................20

6.1

Objects...............................................................................................................................20

Object 0x6040: Controlword .......................................................................................... 26

Object 0x6041: Statusword ............................................................................................. 28

6.2

Halt, Stop and Fault Objects ...........................................................................................31

Object 0x605A: Quick stop option code........................................................................ 31

Object 0x605B: Shutdown option code ......................................................................... 32

Object 0x605C: Disable operation option code ............................................................ 33

Object 0x605D: Halt option code................................................................................... 34

Object 0x605E: Fault reaction option code ................................................................... 35

7: Modes of Operation ..............................................................................................................36

7.1

Functional Description ....................................................................................................36

7.2

Objects...............................................................................................................................36

Object 0x6060: Modes of operation ............................................................................... 36

Object 0x6061: Modes of operation display.................................................................. 37

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

See also other documents in the category ElmoMC Hardware: