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Name Index Description Access Mappable?
Position
window time
0x6068 Defines the time in which the position
within the position window indicates
target reached.
R/W N
Velocity sensor
actual value
0x6069 Actual velocity as calculated from the
main velocity sensor, in increments.
R Y
Velocity sensor
selection code
0x606A Selects the velocity sensor reading
from either the position or the
velocity sensor.
R/W N
Velocity
demand value
0x606B Demand value for velocity controller. R Y
Velocity actual
sensor
0x606C Actual velocity from either position
or velocity sensor.
R Y
Velocity
window
0x606D Monitors whether required target
velocity was achieved.
R/W N
Velocity
window time
0x606E Defines the time in which a target
velocity is considered as reached.
R/W N
Velocity
threshold
0x606F Defines the value in which the
velocity is considered to be 0.
R/W N
Velocity
threshold time
0x6070 Defines (with object 0x607F) the time
in which the velocity is considered to
be 0.
R/W N
Target torque 0x6071 The input value for the torque
controller in profile torque mode.
R/W Y
Max torque
0x6072
The maximum permissible torque in
the motor.
R/W
N
Max current 0x6073 The maximum permissible torque
creating current in the motor.
R/W N
Torque demand
value
0x6074 The maximum permissible torque
creating current in the motor.
R N
Motor rated
current
0x6075 This value is taken from the motor
nameplate.
R/W N
Motor rated
torque
0x6076 This value is taken from the motor
name plate.
R/W N
Torque actual
value
0x6077 The instantaneous torque in the drive
motor.
R Y
Current actual
value
0x6078 The instantaneous current in the
drive motor.
R Y
Profiled target
position
0x607A Defines target position for absolute or
relative point-to-point motion.
R/W Y
Position range
limit
0x607B Sets the limits in which the position
numerical values are available.
R/W N
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
5