Festo CiA 402 Manual page 73

4 Setting parameters
Object 6063 : position_actual_value_s (increments)
h
The actual position can be read out via this object. The angle encoder feeds this to the position control-
ler. This object is specified in increments.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Object 6064 : position_actual_value (user-defined units)
h
The actual position can be read out via this object. The angle encoder feeds this to the position control-
ler. This object is specified in user-defined increments.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Object 6065 : following_error_window
h
The object following_error_window (following error window) defines a symmetrical range around the
position setpoint value (position_demand_value). If the actual position value (position_actual_value) is
outside the following error window (following_error_window), a contouring error occurs and bit 13 is
set in the object statusword. The following can cause a following error:
– The drive is blocked
– The positioning speed is too high
– The acceleration values are too large
– The object following_error_window has too small a value
– The position controller is not correctly parametrised
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
6063
h
position_actual_value_s
VAR
INT32
ro
yes
inkrements
–
–
6064
h
position_actual_value
VAR
INT32
ro
yes
position units
–
–
73