ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 72)

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 2 32 -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
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
66