Object 6064H: Position Actual Value (Ds402) - Kollmorgen S300 Interface Manual

Kollmorgen
4.8.4.2

Object 6064h: position actual value (DS402)

The object position actual value provides the actual position. The resolution can be altered by the
gearing factors of the position controller (Object 6092).
Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
4.8.4.3 Object 6065h: Following error window
The following error window defines a range of tolerated position values symmetrically to the position
demand value. A following error might occur when a drive is blocked, unreachable profile velocity
occurs, or at wrong closed loop coefficients. If the value of the following error window is 0, the follo-
wing control is switched off.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
4.8.4.4 Object 6067h: Position window (DS402)
The position window defines a symmetrical range of accepted positions relatively to the target posi -
tion. If the actual value of the position encoder is within the position window, this target position is
regarded as reached. The status word bit "Target reached" goes to 1.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
CANopen for S300/S700
11/2018
6064
h
position actual value
VAR
INTEGER32
pc, pp
rw
possible
position units
31 31
(-2 ) ... (2 -1)
—
no
6065
h
Following error window
VAR
UNSIGNED32
optional
rw
possible
UNSIGNED32
1/4 of a motor revolution
6067
h
Position window
VAR
UNSIGNED32
optional
rw
possible
UNSIGNED32
4000 position units
CANopen Drive Profile
75