Elmomc CANopen DSP 402 Implementation Guide Manuale Utente Scaricare il pdf (Pagina 102)

13.2 Objects

Object 0x6069: Velocity sensor actual value

This object describes the value read from a velocity encoder, in increments/second. If the

velocity sensor actual value is reflected by object 0x606C, it is scaled by position_factor_2 and

by position_factor_1.

 Object description:

Index 6069h

Name Velocity sensor actual value

Object code VAR

Data type INTEGER32

Category Mandatory

 Entry description:

Access Read/Write

PDO mapping Yes

Value range INTEGER32

Default value 0

This value is not scaled with velocity factor 2.

Object 0x606A: Sensor selection code

The source of the velocity actual value (object 0x606C) can be determined using the sensor

selection code, which determines whether a differentiated position signal or the signal

from a separate

velocity sensor needs to be evaluated.

 Object description:

Index 606Ah

Name Sensor selection code

Object code VAR

Data type INTEGER16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER16

Default value No

CANopen DSP 402 Implementation Guide

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Elmomc CANopen DSP 402 Implementation Guide Manuale Utente Pagina 102