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Name Index Description Access Mappable?
Position encoder
resolution
0x608F Defines relation between motor
revolution and position increments.
R/W N
Velocity
encoder
resolution
0x6090 Defines ratio of encoder increments/
sec per motor revolutions/sec.
R/W N
Position factor 0x6093 Converts position in user units to
position in internal increments
R/W N
Velocity
Encoder factor
0x6094 Converts desired velocity in velocity
units into internal increments/sec.
R/W N
Velocity factor 1 0x6095 Converts motor data into velocity
data.
R/W N
Velocity factor 2 0x6096 Converts encoder data for position
into encoder data for velocity.
R/W N
Acceleration
factor
0x6097 Converts the acceleration from user
units to internal increments/sec.
R/W N
Homing method 0x6098 Defines method by which homing
procedure is performed.
R/W N
Homing speed 0x6099 Sets speed for homing procedure. R/W N
Homing
acceleration
0x609A Sets acceleration for homing
sequence.
R/W N
Interpolated
position sub
mode
0x60C0 Sets sub-mode for interpolated
position algorithm.
R/W N
Interpolated
data record
0x60C1 Sets data for interpolation position
trajectory.
R/W Y
Interpolated
position time
period
0x60C2 Defines time for interpolation
position trajectory.
R/W Y
Interpolation
data
configuration
0x60C4 Defines method to store position data
record.
R/W Y: buffer
position
N: all the
other
entries.
Position
demand value
0x60FC Reads position command in
increments as given to position
controller
R Y
Digital input 0x60FD Reads digital input according to DSP
402, and also reflects Elmo digital
input logical state.
R Y
Target velocity 0x60FF Sets velocity reference for velocity
profiler.
R/W Y
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
7