User ManualTable of ContentsRevision History2Introduction7Operating Principles7Abbreviations and Terms8Elmo Documentation9The DSP 402 Object Dictionary10Emergencies15Predefinition15Object 0x1000: Device type15Object 0x1001: Error register15Common Entries18Drive Error18Object 0x6007: Abort connection option code18Object 0x603F: Error code19Motor Data19Object 0x6402: Motor type19Object 0x6403: Motor catalog number20Object 0x6404: Motor manufacturer21Object 0x6406: Motor calibration data21Object 0x6407: Motor service periods22Drive Data22Object 0x6502: Supported drive modes23Object 0x6504: Drive manufacturer23Object 0x6505: http drive catalog address24Object 0x60FD: Digital inputs24Device Control26Objects26Object 0x6040: Controlword32Object 0x6041: Statusword34Halt, Stop and Fault Objects37Object 0x605A: Quick stop option code37Object 0x605B: Shutdown option code38Object 0x605C: Disable operation option code39Object 0x605D: Halt option code40Object 0x605E: Fault reaction option code41Modes of Operation42Functional Description42Objects42Object 0x6060: Modes of operation42Object 0x6061: Modes of operation display43Factors44Relationship between Physical and Internal Units44Functions and Limits44Objects45Object 0x607E: Polarity45Object 0x6089: Position notation index46Object 0x608A: Position dimension index46Object 0x608B: Velocity notation index47Object 0x608C: Velocity dimension index48Object 0x608D: Acceleration notation index48Object 0x608E: Acceleration dimension index49Object 0x608F: Position encoder resolution50Object 0x6090: Velocity encoder resolution51Object 0x6093: Position factor52Object 0x6094: Velocity encoder factor53Object 0x6095: Velocity factor 154Object 0x6096: Velocity factor 255Object 0x6097: Acceleration factor57Homing59General Information59Objects61Object 0x607C: Home offset61Object 0x6098: Homing method62Object 0x6099: Homing speeds63Object 0x609A: Homing acceleration64Functional Description64DSP 402 Homing Methods66Method 1: Homing on the negative limit switch and index puls66Method 2: Homing on the positive limit switch and index puls66Methods 3 and 4: Homing on the positive home switch and inde67Methods 5 and 6: Homing on the negative home switch and inde67Methods 7 to 14: Homing on the home switch and index pulse68Methods 15 and 16: Reserved69Methods 17 to 30: Homing without an index pulse69Methods 31 and 32: Reserved69Methods 33 and 34: Homing on the index pulse69Method 35: Homing on the current position69Position Control Function70General Information70Objects71Object 0x6062: Position demand value71Object 0x6063: Position actual value71Object 0x6064: Position actual value72Object 0x6065: Following error window72Object 0x6066: Following error time out73Object 0x6067: Position window74Object 0x6068: Position window time74Object 0x60FC: Position demand value - increments75Profiled Position76General Information76Objects78Object 0x607A: Target position78Object 0x607B: Position range limit78Object 0x607D: Software position limit80Object 0x607F: Max profile velocity81Object 0x6081: Profile velocity82Object 0x6082: End velocity (not yet implemented)82Object 0x6083: Profile acceleration83Object 0x6084: Profile deceleration83Object 0x6085: Quick stop deceleration84Object 0x6086: Motion profile type84Functional Description85Interpolated Position87General Information87Objects90Object 0x60C0: Interpolation sub mode select90Object 0x60C1: Interpolation data record91Object 0x60C2: Interpolation time period92Object 0x60C3: Interpolation sync definition93Object 0x60C4: Interpolation data configuration94Functional Description97Linear Interpolation98Spline Interpolation98Motion Synchronization99Profiled Velocity100General Information100Objects102Object 0x6069: Velocity sensor actual value102Object 0x606A: Sensor selection code102Object 0x606B: Velocity demand value103Object 0x606C: Velocity actual value104Object 0x606D: Velocity window104Object 0x606E: Velocity window time105Object 0x606F: Velocity threshold105Object 0x6070: Velocity threshold time106Object 0x60FF: Target velocity106Profiled Torque Mode107General Information107Internal states108Controlword of profile torque mode108Objects dictionary entries109Objects defined in other chapters109Objects description109Object 0x6071: Target torque109Object 0x6072: Max torque110Object 0x6073: Max Current110Object 0x6074: Torque Demand value111Object 0x6075: Motor Rate Current112Object 0x6076: Motor Rate Torque112Object 0x6077: Torque Actual value113Object 0x6078: Current Actual value113Object 0x6087: Torque slope114Object 0x6088: Torque profile type114Size: 1.03 MBPages: 116Language: EnglishOpen manual