Elmo DSP 402 Manuale Utente

This section describes the objects related to the DSP 402 device specific functionality. For 
more information about the object dictionary, refer to the Elmo 

 CANopen DS 301 

Abort 
connection 
option code 

Function to perform on heartbeat 
event.  (Link) 

R/W N 

Error code 

0x603F 

Captures the last error 

R 

N 

Controlword 

Allows changing of drive states.  

R/W 

Y 

Statusword 

Indicates current drive status.  

R 

Y 

Quick stop 
option code 

0x605A

 Sets 

the 

quick stop option code. 

R/W 

N 

Shut down 
option code 

0x605B 

Sets the shut down option code. 

R/W 

N 

Disable 
operation option 
code 

0x605C

 Sets 

the 

disable operation option code.  R/W 

N 

Halt option code 

0x605D

 Sets 

the 

Halt option code. 

R/W 

N 

Fault reaction 
option code 

0x605E

 

Sets drive reaction when fault occurs.  R/W 

N 

Modes of 
operation 

0x6060 

Sets mode of operation 

R/W 

Y 

Modes of 
operation 
display 

0x6061

 

Displays actual mode of operation. 

R 

N 

Position 
demand value 

Output of profiler. Position 
command.  

R Y 

Actual position 
internal unit 

0x6063

 

Actual position taken from position 
sensor, in increments. 

R Y 

Position actual 
value 

Actual position as taken from 
position sensor, in user units. 

R Y 

Position 
following error 
window 

0x6065

 

Defines a range of tolerated position 
values symmetrical to the position 
demand value. 

R/W N 

Position 
following error 
window time 

0x6066

 

Defines the timeout for the next error 
window to set the following error 
indication. 

R/W N 

Position 
window 

0x6067

 

Defines a symmetrical position 
window for the target position for 
target reached indication. 

R/W N 

CANopen DSP 402 Implementation Guide 

MAN-CAN402IG (Ver. 1.2) 

 

 

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