ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 110)

Object 0x2F41: DS402 Configuration object
This bit field object gives several configuration options to the DS402 protocol. It resets to
0 after boot reset and must be set again in such cases.
ƒ Object description:
Index 2F41h
Name DS402 Configuration object
Object code VAR
Data type UNSIGNED32
Category
ƒ Entry description:
Access Read/Write
PDO mapping No
Value range No
Default value 0
ƒ Data description:
31 2 1 0
Reserved Start
Motion
in PP
mode
Fast PV mode
ƒ Fast PV mode – Bit 0:
Allows fast treatment of the DS402 profile velocity mode. In this case the following
objects are not considered: profile acceleration (0x6083) profile deceleration (0x6084),
polarity (0x607E), acceleration factor (0x6097), velocity limit (0x607F), velocity
encoder factor (0x6094). Any settings of the AC & DC can be done with the Elmo
Binary Interpreter. The target velocity (0x60FF) is considered as counts/sec.
ƒ Start Motion in PP Mode – Bit 1 :
This bit determines the behavior of the profile position (PP) when motion begins.
‘0’ - the motion begins when bit 4 in the control word (New set point) is reset from
‘1’ to ‘0’. ‘0’ is the default value of bit 1 of this Object ( 0x2F41). It maintains
compatibility with previous firmware versions.
“1” - the motion begins when bit 4 in the control word (New set point) is set from ‘0’
to ‘1’.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-33