ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 104)

Object 0x606C: Velocity actual value
This object is represented in velocity units and is coupled with the velocity used as input
to the velocity controller.
The object is taken from either the position sensor or the
velocity sensor. In UM=5 (single position loop), this object reflects the load and the motor
value; in UM=4 (dual loop), object 0x606A determines which sensor is reflected.
Object description:
Index 606Ch
Name Velocity actual value
Object code VAR
Data type INTEGER32
Category Mandatory
Entry description:
Access Read only
PDO mapping Yes
Value range INTEGER32
Default value No
Object 0x606D: Velocity window
This object monitors whether the required process velocity has been achieved after an
eventual acceleration or deceleration (braking) phase. It is given in velocity units.
Object description:
Index 606Dh
Name Velocity window
Object code VAR
Data type UNSIGNED16
Category Optional
Entry description:
Access Read/write
PDO mapping No
Value range UNSIGNED16
Default value No
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
98