JVL MAC050 User Manual page 216

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.45 DSP-402 Support
Introduction
The MAC00-FCx supports the DSP-402 standard from CiA®
(http://www.can-cia.com/).
Please refer to this standard for full details of the functions.
The DSP-402 is only a standard proposal and might be changed in the future. We reserve
the right to change future firmware versions to conform to new versions of the standard.
Not all of the functionality, described in DSP-402, is supported. But all the mandatory
functions are supported.
The following operation modes is supported:
- Profile position mode
- Velocity mode
- Homing mode
Precondition:
Before the DSP-402 mode can be used, the firmware in the FCx module must be updat-
ed to at least version 1.3.
The start mode of the motor must be set to passive.
No power up Homing must be selected.
If absolute movement is used, the 'resynchronize after passive mode' must be set.
When using DSP-402 mode, manipulating parameters with object 2012h or 2013h can
corrupt the behaviour of the DSP-402 functions. Also be aware that manipulating param-
eters in MacTalk should be avoided when using DSP-402.
212 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500