Object 6063H - Position Internal Actual Value; Object 6064H - Position Actual Value; Profile Position Mode - WEG SCA06 User Manual

8.3.1 Object 6063h – Position internal actual value
It represents the actual position of the motor shaft in increments. A complete revolution represents 65536 increments.
Index
6063h
The value of this object always represents the shaft position in a single revolution only. The number of revolutions is
not controlled by this object.
8.3.2 Object 6064h – Position Actual Value
It represents the actual position of the motor shaft. The value of this object can be transformed from internal units to
user-defined values, according to the settings of the objects 608Fh, 6091h and 6092h, as per table 8.7.
Index
6064h
The higher part of this object represents the number of revolutions and the lower part represents the position of the
axis in the current revolution
Object
Unit
Degrees
Minutes
Seconds
Internal unit
8.4 PROFILE POSITION MODE
This mode of operation allows the control of the SCA06 servo drive by adjusting of the position set-point, which can
be executed following two methods:
single set-point.
set of set-points.
No matter which method is used, the adjustment of a set-point is performed as follows: first you must write on the
Target Position object (607Ah) the desired set-point. Then you must write 1 on the NEW SET POINT bit on the control
object (ControlWord – 6041h). The SET-POINT ACKNOWLEDGE bit on the status object (StatusWord – 6040h) will
be set indicating that a new set-point was received. If the set-point is accepted, the bit is reset. When the set-point
is reached, the TARGET REACHED bit on the status object will be set. Figure 8.2 shows an example of set-point
writing.
Sub-
Name
index
0 Position actual value
Sub-
Name
index
0 Position Actual Value in User Units
Table 8.7: Programming of the Factor Group objects
608Fh 608Fh
sub-index 1 sub-index 2
41h 1
42h 1
43h 1
FFh 1
Type Access
INT32
Type Access
INT32
6091h 6091h
sub-index 1 sub-index 2
1 1
1 1
1 1
1 1
CiA 402 Drive Profile
PDO
Mapping
ro Yes
PDO
Mapping
ro Yes
6092h 6092h
sub-index 1 sub-index 2
41h 1
42h 1
43h 1
FFh 1
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