ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 102)

13.2 Objects
Object 0x6069: Velocity sensor actual value
This object describes the value read from a velocity encoder, in increments/second. If the
velocity sensor actual value is reflected by object 0x606C, it is scaled by position_factor_2 and
by position_factor_1.
Object description:
Index 6069h
Name Velocity sensor actual value
Object code VAR
Data type INTEGER32
Category Mandatory
Entry description:
Access Read/Write
PDO mapping Yes
Value range INTEGER32
Default value 0
This value is not scaled with velocity factor 2.
Object 0x606A: Sensor selection code
The source of the velocity actual value (object 0x606C) can be determined using the sensor
selection code, which determines whether a differentiated position signal or the signal
from a separate velocity sensor needs to be evaluated.
Object description:
Index 606Ah
Name Sensor selection code
Object code VAR
Data type INTEGER16
Category Optional
Entry description:
Access Read/write
PDO mapping No
Value range INTEGER16
Default value No
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
96