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Name Index Description Access Mappable?
Homing offset 0x607C Defines offset from homing zero
position to application zero position.
R/W N
Software
position limit
0x607D Defines limits for demand position
value and actual position value.
R/W N
Polarity 0x607E Sets polarity for position or speed
command and actual value.
R/W Y
Max profile
velocity
0x607F Defines limit to which a profile
velocity speed is saturated.
R/W N
Profile velocity 0x6081 Sets the speed for the profile position
motion.
R/W Y
Profile
acceleration
0x6083 Defines the acceleration for the
profile velocity and profile position
motion.
R/W Y
Profile
deceleration
0x6084 Defines deceleration for profile
velocity and profile position motion.
R/W N
Quick stop
deceleration
0x6085 Sets the deceleration for a quick stop
state.
R/W N
Motion profile
type
0x6086 Defines method by which profile
motion is evaluated (linear or jerk)
R/W N
Torque slope 0x6087 the rate of change of torque R/W Y
Torque profile
type
0x6088 Used to select the type of torque
profile used to perform a torque
change.
R/W N
Position
notation index
0x6089 Used to scale position objects. R/W N
Position
dimension index
0x608A This object defines the position
dimension index.
R/W N
Velocity
notation index
0x608B This is defined by the physical
dimensions and calculated by unit type.
R/W N
Velocity
dimension index
0x608C This is used together with the velocity
notation index to define a unit.
R/W N
Acceleration
notation index
0x608D The unit is defined by the physical
dimensions and calculated by unit
type and exponent
R/W N
Acceleration
dimension index
0x608E This defines the acceleration
dimension index, which is used
together with the acceleration
notation index (object 0x608D) to
define a unit
R/W N
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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