ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 10)

2: The DSP 402 Object Dictionary
This section describes the objects related to the DSP 402 device specific functionality. For
more information about the object dictionary, refer to the Elmo
SimplIQ CANopen DS 301
Implementation Guide.
Name Index Description Access Mappable?
Abort
connection
option code 0x6007 Function to perform on heartbeat
event. (Link) R/W N
Error code 0x603F Captures the last error R N
Controlword 0x6040 Allows changing of drive states. R/W Y
Statusword 0x6041 Indicates current drive status. R Y
Quick stop
option code 0x605A Sets the quick stop option code. R/W N
Shut down
option code 0x605B Sets the shut down option code. R/W N
Disable
operation option
code 0x605C Sets the disable operation option code. R/W N
Halt option code 0x605D Sets the Halt option code. R/W N
Fault reaction
option code 0x605E Sets drive reaction when fault occurs. R/W N
Modes of
operation 0x6060 Sets mode of operation R/W Y
Modes of
operation
display 0x6061 Displays actual mode of operation. R N
Position
demand value 0x6062 Output of profiler. Position
command. R Y
Actual position
internal unit 0x6063 Actual position taken from position
sensor, in increments. R Y
Position actual
value 0x6064 Actual position as taken from
position sensor, in user units. R Y
Position
following error
window 0x6065 Defines a range of tolerated position
values symmetrical to the position
demand value. R/W N
Position
following error
window time 0x6066 Defines the timeout for the next error
window to set the following error
indication. R/W N
Position
window 0x6067 Defines a symmetrical position
window for the target position for
target reached indication. R/W N
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
4