Position_Actual_Value; Velocity_Demand_Value (606B H ); Velocity_Actual_Value; Velocity_Encoder_Factor - Festo CiA 402 Manual

6 Operating modes
6.5.2

Description of the objects

Objects treated in this chapter
Index Object
6069 VAR
h
606B VAR
h
606C VAR
h
6080 VAR
h
60FF VAR
h
Affected objects from other chapters
Index Object
6040 VAR
h
6041 VAR
h
6063 VAR
h
6071 VAR
h
6072 VAR
h
607E VAR
h
6083 VAR
h
6084 VAR
h
6085 VAR
h
6086 VAR
h
6094 ARRAY
h
Object 6069 : velocity_sensor_actual_value
h
With the object velocity_sensor_actual_value, the value of a possible speed encoder can be read out in
internal units. A separate tachometer cannot be connected in the CMMS motor controller family. There-
fore, to determine the actual speed value, the object 606C
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Name
velocity_sensor_actual_value
velocity_demand_value

velocity_actual_value

max_motor_speed
target_velocity
Name
controlword

statusword

position_actual_value*

target_torque
max_torque_value
polarity
profile_acceleration
profile_deceleration
quick_stop_deceleration
motion_profile_type

velocity_encoder_factor

6069
h
velocity_sensor_actual_value
VAR
INT32
ro
yes
Angle difference in increments per second
(65536 increments = 1 R)
–
–
Type Chapter
INT16 5 Device control
UINT16 5 Device control
INT32 4.6 Position controller
INT16 6.7 Torque controller
UINT16 6.7 Torque controller
UINT8 4.2 Conversion factors
UINT32 6.3 Positioning
UINT32 6.3 Positioning
UINT32 6.3 Positioning
INT16 6.3 Positioning
UINT32 4.2 Conversion factors
should be used.
h
Type Attr.
INT32 ro
INT32 ro
INT32 ro
UINT32 rw
INT32 rw
131