11: Profiled Position..................................................................................................................70
11.1
General Information ........................................................................................................70
11.2
Objects...............................................................................................................................72
Object 0x607A: Target position...................................................................................... 72
Object 0x607B: Position range limit............................................................................... 72
Object 0x607D: Software position limit ........................................................................ 74
Object 0x607F: Max profile velocity .............................................................................. 75
Object 0x6081: Profile velocity....................................................................................... 76
Object 0x6082: End velocity (not yet implemented).................................................... 76
Object 0x6083: Profile acceleration................................................................................ 77
Object 0x6084: Profile deceleration ............................................................................... 77
Object 0x6085: Quick stop deceleration ........................................................................ 78
Object 0x6086: Motion profile type ............................................................................... 78
11.3
Functional Description ....................................................................................................79
12: Interpolated Position ..........................................................................................................81
12.1
General Information ........................................................................................................81
12.2
Objects...............................................................................................................................84
Object 0x60C0: Interpolation sub mode select ............................................................. 84
Object 0x60C1: Interpolation data record..................................................................... 85
Object 0x60C2: Interpolation time period .................................................................... 86
Object 0x60C3: Interpolation sync definition............................................................... 87
Object 0x60C4: Interpolation data configuration......................................................... 88
12.3
Functional Description ....................................................................................................91
12.3.1
Linear Interpolation............................................................................................92
12.3.2
Spline Interpolation ............................................................................................92
12.3.3
Motion Synchronization.....................................................................................93
13: Profiled Velocity..................................................................................................................94
13.1
General Information ........................................................................................................94
13.2
Objects...............................................................................................................................96
Object 0x6069: Velocity sensor actual value................................................................. 96
Object 0x606A: Sensor selection code ........................................................................... 96
Object 0x606B: Velocity demand value......................................................................... 97
Object 0x606C: Velocity actual value ............................................................................ 98
Object 0x606D: Velocity window .................................................................................. 98
Object 0x606E: Velocity window time .......................................................................... 99
Object 0x606F: Velocity threshold ................................................................................. 99
Object 0x6070: Velocity threshold time....................................................................... 100
Object 0x60FF: Target velocity..................................................................................... 100
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
iii
