BECKHOFF AX2000 CANopen communication profile - Manual (Page 93)

4.15.4 Object Decription
4.15.4.1 Object 6063h: position_actual_value* (DS402)
The Object position_actual_value provides the momentary actual position in increments.
The resolution is 16 bits or 20 bits per turn (see PRBASE command).
Index 0x6063 h
Name position_actual_value
Object code VAR
Data type INTEGER32
Mode pc, pp
Access rw
PDO mapping possible
Unit increments (1 turn = 16 bit / 20 bit)(see PRBASE)
Value range (-2 31 ) ... (2 31 -1)
Default value —
EEPROM no
4.15.4.2 Object 6064h: position_actual_value (DS402)
The Object position_actual_value provides the actual position. The resolution (manufacturer-speci-
fic units: see Objects 2020
h
08
h
/09
h
or as per drive profile DSP402: see Object 607A
h
) can be alte-
red by the gearing factors of the position controller.
Note: this Object should not be defined (mapped) in a synchronous TPDO.
Index 0x6064 h
Name position_actual_value
Object code VAR
Data type INTEGER32
Mode pc, pp
Access rw
PDO mapping possible
Unit position units
Value range (-2
31
) ... (2
31
-1)
Default value —
EEPROM no
CANopen for AX2000/2500 93
BECKHOFF
07/2007
CANopen Drive Profile