10
Position Control Function Objects
10.1
[Position demand value (Obj. 6062h)]
[Position demand value (Obj. 6062h: 00h)]
Data Type
Access
I32
RO
Description
The command position inside the servo amplifier is returned.
10.2
[Position actual internal value (Obj. 6063h)]
[Position actual internal value (Obj. 6063h: 00h)]
Data Type
Access
I32
RO
Description
The current position is returned.
10.3
[Position actual value (Obj. 6064h)]
[Position actual value (Obj. 6064h: 00h)]
Data Type
Access
I32
RO
Description
The current position of the command unit is returned.
10.4
[Following error window (Obj. 6065h)]
[Following error window (Obj. 6065h: 00h)]
Data Type
Access
U32
RW
Description
In the cyclic synchronous position mode (csp) and in the profile position mode (pp), when the time set with [Following error
time out (Obj. 6066h)] has elapsed with the number of droop pulses exceeding the setting value of this object, bit 13 of
[Statusword (Obj. 6041h)] is turned on. When the setting value of this object is "FFFFFFFFh", bit 13 of [Statusword] is always
off.
10 Position Control Function Objects
100
10.1 [Position demand value (Obj. 6062h)]
Mapping
Default
TxPDO
Mapping
Default
TxPDO
Mapping
Default
TxPDO
Mapping
Default
RxPDO
00C00000h
Range
Units
-2147483648 to
pos units
2147483647
Range
Units
-2147483648 to
inc
2147483647
Range
Units
-2147483648 to
pos units
2147483647
Range
Units
00000000h to
pos units
FFFFFFFFh
Save
Parameter
Impossible
Save
Parameter
Impossible
Save
Parameter
Impossible
Save
Parameter
Possible
[Pr. PC67]