Elmo DSP 402 User Manual

607Ah: Target position 
607Bh: Position range limit 
607Dh: Software position limit 
607Fh: Maximum profile velocity 
6081h: Profiled velocity 
6082h: End velocity 
6083h: Profiled acceleration 
6084h: Profiled deceleration 
6086h: Motion profile type 
60C5h: Maximum acceleration 
60C6h: Maximum deceleration 

This chapter describes how to set a point-to-point (PTP) movement under a profiled 
position where a target position is applied to the trajectory generator. It generates a 
position demand value to the control loop. The trajectory generator input includes profiled 
velocity, acceleration, deceleration, and selection of motion type, motion polarity and 
stopping option. The inputs to the trajectory are given in user units and are limited 
before being normalized to internal increments. 

  Notes: 

 

Limits supported by the DSP 402 protocol may be submitted to internal limits 
that protect the drive or support any previous behavior for compatibility 
reasons. 

 

The velocity, acceleration, deceleration is submitted to the limits according to 
the relevant limit range. 

ontrolword of the profiled position mode: 

0…3 

Described in Device Control 

4 

Set new point 

5 

Change set immediately 

6 Absolute/relative 

movement 

7 

Described in Device Control 

8 Halt 

9..12 

Described in Device Control 

13 

New point is buffered  

14..15 

Described in Device Control 

CANopen DSP 402 Implementation Guide 

MAN-CAN402IG (Ver. 1.2) 

 

 

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