Object Dictionary
CANBus Networking Manual 37
DS402 Profile
Index Sub (hex) Entry Name Type Access PDO Command
0x6040 00 Control Word CH1 U16 RW Ye s CW
0x6041 00 Status Word CH1 U16 RO Ye s SW
0x6042 00 Target Velocity CH1 S16 RW Ye s S
0x6043 00 VL Velocity Demand CH1 S16 RO Ye s RMP
0x6044 00 VL Velocity Actual Value CH1 S16 RO Yes F
0x6046 01 VL Velocity Min Amount CH1 U32 RW Ye s SPL
02 VL Velocity Max Amount CH1 U32 RW Ye s SPL
0x6048 01 Velocity Acceleration Delta Speed CH1 U32 RW Ye s SAC
02 Velocity Acceleration Delta Time CH1 U16 RW Ye s SAC
0x6049 01 Velocity Deceleration Delta Speed CH1 U32 RW Ye s SDC
02 Velocity Acceleration Delta Time CH1 U16 RW Ye s SDC
0x6060 00 Modes of Operation CH1 S8 RW Ye s ROM
0x6061 00 Modes of Operation Display CH1 S8 RO No AOM
0x6064 00 Position Actual Value CH1 S32 RO Ye s F
0x606C 00 Velocity Actual Value CH1 S32 RO Ye s F
0x6071 00 Target Torque CH1 S16 RW Ye s TC
0x6077 00 Torque Actual Value CH1 S16 RO Ye s TRQ
0x607A 00 Target Position CH1 S32 RW Ye s POS
0x6081 00 Profile Velocity CH1 U32 RW Ye s PSP
0x6083 00 Profile Acceleration CH1 U32 RW Ye s PAC
0x6084 00 Profile Deceleration CH1 U32 RW Ye s PDC
0x6087 00 Torque Slope CH1 U32 RW Ye s TSL
0x60FF 00 Target Profile Velocity CH1 U32 RW Ye s S
0x6502 00 Supported Drive Modes CH1 U32 CONST No SDM
0x67FE 00 Version Number CH1 U32 CONST No VNM
0x6840 00 Control Word CH2 U16 RW Ye s CW
0x6841 00 Status Word CH2 U16 RO Ye s SW
0x6842 00 Target Velocity CH2 S16 RW Ye s S
0x6843 00 VL Velocity Demand CH2 S16 RO Ye s RMP
0x6844 00 VL Velocity Actual Value CH2 S16 RO Yes F
0x6046 01 VL Velocity Min Amount CH2 U32 RW Ye s SPL
02 VL Velocity Max Amount CH2 U32 RW Ye s SPL
0x6048 01 Velocity Acceleration Delta Speed CH2 U32 RW Ye s SAC
02 Velocity Acceleration Delta Time CH2 U16 RW Ye s SAC
0x6049 01 Velocity Deceleration Delta Speed CH2 U32 RW Ye s SDC
02 Velocity Acceleration Delta Time CH2 U16 RW Ye s SDC
0x6860 00 Modes of Operation CH2 S8 RW Ye s ROM
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