Elmo DSP 402 User Manual

607Eh: Polarity  
6089h: Position notation index  
608Ah: Position dimension index  
608Bh: Velocity notation index  
608Ch: Velocity dimension index  
608Dh: Acceleration notation index  
608Eh: Acceleration dimension index  
608Fh: Position encoder resolution  
6090h: Velocity encoder resolution  
6093h: Position factor  
6094h: Velocity encoder factor  
6095h: Velocity factor 1  
6096h: Velocity factor 2  
6097h: Acceleration factor  
 
Physical dimensions and sizes need to be converted into the device internal units, 
requiring a number of different factors. This chapter describes how these factors 
influence the system, how they are calculated and which data is needed to build them. 

The factors defined in the factor group determine a relationship between the Elmo drive 
internal units and the application physical units. The factors are a result of the calculation 
of two parameters – called dimension index and notation index – which are defined 

Appendix A

 and 

Appendix B

. One parameter indicates the physical dimensions, and the 

other indicates the decimal exponent for the values. These factors are directly used to 
normalize the physical values. 

The application-specific parameters are used in the corresponding mode of operation to 
build the described factors. Parameters that are commonly used are integrated in the 
object dictionary without defining their junctions. This guarantees a common parameter 
number for further use without the need for predefinition. 

 

Factors cannot be set while the drive is in OPERATION ENABLE state. 

 

Divisors cannot be set to 0. An abort message with abort code 0609 0030 will be 
transmitted. 

 

Values are truncated to the nearest integer. 

CANopen DSP 402 Implementation Guide 

MAN-CAN402IG (Ver. 1.2) 

 

 

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