Position Control Function - YASKAWA SGD7S-xxxDA0 series Product Manual

15.9

Position Control Function

Position Demand Value (6062h)
This object specifies the current reference position in user position reference units.
Subin-
Index
dex
6062h 0
Position Actual Internal Value (6063h)
This object gives the current feedback position in encoder pulse units.
Subin-
Index
dex
6063h 0
Position Actual Value (6064h)
This object gives the current feedback position in user position reference units.
Subin-
Index
dex
6064h 0
Position Demand Internal Value (60FCh)
This object gives the output of the trajectory generator during position control (the position that
is input to the position loop). The value is given in encoder pulses.
Subin-
Index
dex
60FCh 0
Following Error Window (6065h)
This object defines the detection range for the following error (bit 13 of statusword).
If the position deviation exceeds the following error window for the following error time out
(6066h), bit 13 in statusword changes to 1 to indicate following error. A following error can
occur when the Servo Drive is blocked, when the profile speed is too high, or when the gain
settings are not correct.
Subin-
Index
dex
6065h 0
Following Error Time Out (6066h)
If the position deviation exceeds the following error window for the time specified in this object,
bit 13 in statusword changes to 1 to indicate following error.
Subin-
Index
dex
6066h 0
Data
Name
Type
Position demand
DINT
value
Data
Name
Type
Position actual inter-
DINT
nal value
Data
Name
Type
Position actual value DINT
Data
Name
Type
Position demand
DINT
internal value
Data
Name
Type
Following error win-
UDINT
dow
Data
Name
Type
Following error time
UINT
out

15.9 Position Control Function

PDO
Access
Mapping
− [Pos. unit]
RO Yes
PDO
Access
Mapping
RO Yes
PDO
Access
Mapping
− [Pos. unit]
RO Yes
PDO
Access
Mapping
RO Yes
PDO
Access
Mapping
0 to 1,073,741,823
RW No (default: 5,242,880)
[Pos. unit]
PDO
Access
Mapping
0 to 65,535
RW No
(default: 0) [ms]
Saving to
Value
EEPROM
No
Saving to
Value
EEPROM
− [inc]
No
Saving to
Value
EEPROM
No
Saving to
Value
EEPROM
− [inc]
No
Saving to
Value
EEPROM
Yes
Saving to
Value
EEPROM
Yes
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