49Part 2: DSP-402 Implementation
Section 8
Position Control Function
General Information
In this chapter, all parameters are described which are necessary for a closed loop position control. The control loop is fed
with the position_demand_value as one of the outputs of the Trajectory Generator and with the output of the position detec-
tion unit (position_actual_value) like a resolver or encoder as input parameters.
Object 6062h — Position Demand Value
This object shall provide the demanded position value. The value shall be given in motor steps.
Object Description
Index
6062h
Name
Position Demand Value
Object Code
VAR
Data Type
Integer 32
Entry Description
Access
r
PDO Mapping
n/a
Range
Integer 32
Default
n/a
Object 6063h — Position Actual Value Internal
This object shall provide the actual value of the position measurement device, which shall be one of the two input values of
the closed-loop position control
Object Description
Index
6063h
Name
Position Actual Value*
Object Code
VAR
Data Type
Integer 32
Entry Description
Access
r
PDO Mapping
n/a
Range
Integer 32
Default
n/a
Object 6064h — Position Actual Value
This object represents the actual value of the position measurement device microsteps.
Object Description
Index
6064h
Name
Position Actual Value
Object Code
VAR
Data Type
Integer 32
Entry Description
Access
r
PDO Mapping
n/a
Range
Integer 32
Default
n/a