CANopen DSP 402 Implementation Guide
65
10.2Objects
Object 0x6062: Position demand value
The value of this object is taken from the internal position command and is given in position units after being converted by position factor.
Object description:
| Index |
| 6062h |
| Name |
| Position demand value |
| Object code |
| VAR |
| Data type |
| INTEGER32 |
| Category |
| Optional |
Entry description: |
|
| |
|
|
|
|
| Access |
| Read only |
| PDO mapping |
| Yes |
| Value range |
| INTEGER32 |
| Default value |
| 0 |
Object 0x6063: Position actual value
The actual value of the position measurement device is one of the two input values of the closed loop position control. The data unit is defined as increments.
Object description:
| Index |
| 6063h |
| Name |
| Position actual value - increments |
| Object code |
| VAR |
| Data type |
| INTEGER32 |
| Category |
| Mandatory |
Entry description: |
|
| |
|
|
|
|
| Access |
| Read only |
| PDO mapping |
| Yes |
| Value range |
| INTEGER32 |
| Default value |
| 0 |
Notes:
Value range submits to the position range limits as defined in the specific drive. For the Harmonica servo drive: ±1 * 109
This object has a write access when the motor is not enabled.
