ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 4)

8: Factors .....................................................................................................................................38
8.1 Relationship between Physical and Internal Units.......................................................38
8.2 Functions and Limits .......................................................................................................38
8.3 Objects...............................................................................................................................39
Object 0x607E: Polarity................................................................................................... 39
Object 0x6089: Position notation index......................................................................... 40
Object 0x608A: Position dimension index .................................................................... 40
Object 0x608B: Velocity notation index ........................................................................ 41
Object 0x608C: Velocity dimension index .................................................................... 42
Object 0x608D: Acceleration notation index ................................................................ 42
Object 0x608E: Acceleration dimension index ............................................................. 43
Object 0x608F: Position encoder resolution ................................................................. 44
Object 0x6090: Velocity encoder resolution.................................................................. 45
Object 0x6093: Position factor........................................................................................ 46
Object 0x6094: Velocity encoder factor ......................................................................... 47
Object 0x6095: Velocity factor 1..................................................................................... 48
Object 0x6096: Velocity factor 2..................................................................................... 49
Object 0x6097: Acceleration factor ................................................................................ 51
9: Homing ...................................................................................................................................53
9.1 General Information ........................................................................................................53
9.2 Objects...............................................................................................................................55
Object 0x607C: Home offset........................................................................................... 55
Object 0x6098: Homing method .................................................................................... 56
Object 0x6099: Homing speeds...................................................................................... 57
Object 0x609A: Homing acceleration ............................................................................ 58
9.3 Functional Description ....................................................................................................58
9.4 DSP 402 Homing Methods..............................................................................................60
9.4.1 Method 1: Homing on the negative limit switch and index pulse.................60
9.4.2 Method 2: Homing on the positive limit switch and index pulse..................60
9.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse ....61
9.4.4 Methods 5 and 6: Homing on the negative home switch and index pulse ...61
9.4.5 Methods 7 to 14: Homing on the home switch and index pulse ....................62
9.4.6 Methods 15 and 16: Reserved ............................................................................63
9.4.7 Methods 17 to 30: Homing without an index pulse ........................................63
9.4.8 Methods 31 and 32: Reserved ............................................................................63
9.4.9 Methods 33 and 34: Homing on the index pulse .............................................63
9.4.10 Method 35: Homing on the current position....................................................63
10: Position Control Function..................................................................................................64
10.1 General Information ........................................................................................................64
10.2 Objects...............................................................................................................................65
Object 0x6062: Position demand value ......................................................................... 65
Object 0x6063: Position actual value ............................................................................. 65
Object 0x6064: Position actual value ............................................................................. 66
Object 0x6065: Following error window....................................................................... 66
Object 0x6066: Following error time out ...................................................................... 67
Object 0x6067: Position window.................................................................................... 68
Object 0x6068: Position window time........................................................................... 68
Object 0x60FC: Position demand value - increments.................................................. 69
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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