Elmo DSP 402 manual Object 0x6064 Position actual value, Index, 6064H, 6065h

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

66

Object 0x6064: Position actual value

This object represents the actual value of the position measurement device, in user- defined units. When dual loop mode is active (UM=4), this object returns the value of the position sensor as derived from the load feedback (PY command); in all single loop modes (UM = 1,2,3,5), it returns the motor position feedback (PX command) value.

Object description:

	Index	6064H
	Name	Position actual value
	Object code	VAR
	Data type	INTEGER32
	Category	Optional
Entry description:
	Access	Read only
	PDO mapping	Yes
	Value range	INTEGER32
	Default value	0

Object 0x6065: Following error window

This object defines a range of tolerated position values symmetrical to the position demand value. Because it is usually used with user-defined units, a transformation into increments with the position factor is necessary. If the position actual value is out of the following error window, a following error occurs. A following error may occur:

When a drive is blocked

When the profile velocity is unreachable Due to wrong closed loop coefficients

If the value of the following error window is 232 -1, the following control is switched off.

The value of this object in increments is saturated to the maximum position range allowed in the drive (1,000,000,000).

By default, this object is set internally to ER[3]/2 and then converted to user units by position factor.

Object description:

Index	6065h
Name	Following error window
Object code	VAR
Data type	UNSIGNED32
Category	Optional