Document Outline

• Revision History
• Introduction
  • Operating Principles
  • Abbreviations and Terms
  • Elmo Documentation
• The DSP 402 Object Dictionary
• Emergencies
• Predefinition
  • Object 0x1000: Device type
    • Object 0x1001: Error register
• Common Entries
  • Drive Error
    • Object 0x6007: Abort connection option code
      • Object 0x603F: Error code
  • Motor Data
    • Object 0x6402: Motor type
      • Object 0x6403: Motor catalog number
      • Object 0x6404: Motor manufacturer
      • Object 0x6406: Motor calibration data
      • Object 0x6407: Motor service periods
  • Drive Data
    • Object 0x6502: Supported drive modes
      • Object 0x6504: Drive manufacturer
      • Object 0x6505: http drive catalog address
      • Object 0x60FD: Digital inputs
• Device Control
  • Objects
    • Object 0x6040: Controlword
      • Object 0x6041: Statusword
  • Halt, Stop and Fault Objects
    • Object 0x605A: Quick stop option code
      • Object 0x605B: Shutdown option code
      • Object 0x605C: Disable operation option code
      • Object 0x605D: Halt option code
      • Object 0x605E: Fault reaction option code
• Modes of Operation
  • Functional Description
  • Objects
    • Object 0x6060: Modes of operation
      • Object 0x6061: Modes of operation display
• 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
• Homing
  • General Information
  • Objects
    • Object 0x607C: Home offset
      • Object 0x6098: Homing method
      • Object 0x6099: Homing speeds
      • Object 0x609A: Homing acceleration
  • 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
  • General Information
  • Objects
    • Object 0x6062: Position demand value
      • Object 0x6063: Position actual value
      • Object 0x6064: Position actual value
      • Object 0x6065: Following error window
      • Object 0x6066: Following error time out
      • Object 0x6067: Position window
      • Object 0x6068: Position window time
      • Object 0x60FC: Position demand value - increments
• 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
  • Functional Description
• Interpolated Position
  • General Information
  • Objects
    • Object 0x60C0: Interpolation sub mode select
      • Object 0x60C1: Interpolation data record
      • Object 0x60C2: Interpolation time period
      • Object 0x60C3: Interpolation sync definition
      • Object 0x60C4: Interpolation data configuration
  • Functional Description
    • Linear Interpolation
    • Spline Interpolation
    • Motion Synchronization
• Profiled Velocity
  • General Information
  • Objects
    • Object 0x6069: Velocity sensor actual value
      • Object 0x606A: Sensor selection code
      • Object 0x606B: Velocity demand value
      • Object 0x606C: Velocity actual value
      • Object 0x606D: Velocity window
      • Object 0x606E: Velocity window time
      • Object 0x606F: Velocity threshold
      • Object 0x6070: Velocity threshold time
      • Object 0x60FF: Target velocity
• Profiled Torque Mode
  • General Information
    • Internal states
      • Controlword of profile torque mode
  • 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