Position Control Function (Pc) (Ds402) - Kollmorgen S300 Interface Manual

CANopen Drive Profile
4.8

Position Control Function (pc) (DS402)

4.8.1 General Information
This section describes the actual position values that are associated with the position controller of
the drive. They are used for the profile position mode.
4.8.2 Objects that are defined in this section
Index
6063
6064
6065
6067
6068
4.8.3 Objects that are defined in other sections
Index
607A
607C
607Dh ARRAY
607Fh VAR
6093
6094
6096
6040
6041
4.8.4 Object Description
4.8.4.1 Object 6063h: position actual value* (DS402)
The object position actual value provides the momentary actual position in increments.
The resolution is defined with Object 608F as power-of-two number (see PRBASE command).
Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
74
Object Name
VAR position actual value*
h
VAR position actual value
h
VAR following error window
h
VAR position window
h
VAR position window time
h
Object Name
VAR target position
h
VAR home-offset
h
software position limit
max. profile velocity
VAR position factor
h
ARRAY velocity encoder factor
h
ARRAY acceleration factor
h
VAR control word
h
VAR status word
h
6063
position actual value
VAR
INTEGER32
pc, pp
rw
possible
increments (1 turn = 2
(-2
20
2
no
11/2018
Type
INTEGER32
INTEGER32
UNSIGNED32
UNSIGNED32
UNSIGNED16
Type
INTEGER32
INTEGER32
INTEGER32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
INTEGER16
UNSIGNED16
h
PRBASE
)
31 31
) ... (2 -1)
Kollmorgen
Access
r
r
rw
rw
rw
Section
pp (Þ p.84)
hm (Þ p.81)
pp (Þ p.84)
pp (Þ p.84)
fg (Þ p.62)
fg (Þ p.62)
fg (Þ p.62)
dc (Þ p.56)
dc (Þ p.56)
CANopen for S300/S700