Emerson SI-EtherCAT User Manual page 53

7.3.14 Basic position control
Basic position control is supported on the Unidrive M600 and above in RFC-A and RFC-S modes.
The position control described here is used under the interpolated position mode of operation.
Table 7-26 lists the objects that are supported:
Table 7-26 Basic position control supported objects
Index
0x6062
0x6065
0x6067
0x60F4
0x60FB
7.3.15 0x6062 Position_demand_value
This read only object is used to provide the currently demanded position value. The value is given
in user defined position units.
Table 7-27 Position_demand_value
0x6062 Position_demand_value
Sub-index 0
Access: RO
Default: N/A
Description: Used to provide the currently demanded position value.
7.3.16 0x6064 Position_actual_value
This read only object provides the actual value of the position feedback device. The value is given
in internal units.
Table 7-28 Position_actual_value
0x6064 Position_actual_value
Sub-index 0
Access: RO
Default: N/A
This read only object provides the actual value of the position feedback device. The value is
Description:
given in internal units.
7.3.17 Following error window
This object can be used to indicate and configure the range of position values, symmetrical to the
position demand value, outside of which a following error occurs. The value is given in user-defined
position units.
Table 7-29 Following error window
0x6065 Following error window
Sub-index 0
Access: RW
Default: 0xFFFFFFFF
Description: Permitted range of position values before a following error occurs.
SI-EtherCAT User Guide
Issue Number: 2
position_demand_value
following_error_window
position_window
following_error_actual_value
position_control_parameter_set
Range: 0 to 0xFFFFFFFF
Range: 0 to 0xFFFFFFFF
Range: Range: 0 to
0xFFFFFFFF
Name
Size: signed 32
Type: DINT
Size: signed 32
Type: DINT
Size: 4 bytes
Type: UDINT
Unit: N/A
Unit: N/A
Unit: N/A
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