Control Techniques Nidec SI-EtherCAT User Manual page 114

A movement greater than the limit (more than 1 revolution) is allowed only if both bits b6 and b7 are
set to 0 (i.e. normal mode). If the target position is larger than the maximum position range limit, or
it is negative, it is automatically converted to the equivalent modulo position.
For example, referring to the Normal example above, if the target position requested was 450, then
the converted target position would be:
Converted target position =
Figure 7-15 shows an example for an absolute positioning system using the Normal mode and a
target position larger than the limit (360 in this example). The actual position is 90 and absolute
target position is 630.
The axis will move in the positive (forward) direction from 90, once through the maximum position
range limit of 360 to finish at the converted target position of 270 (absolute 630).
Figure 7-15 Absolute position example
The relative positioning is allowed only if the Normal mode is selected (bits b6 and b7 are both 0).
If bits b6 and b7 are not 0 and Control word bit b6 (Abs/Rel) is set when a new setpoint is applied
by Control word bit b4 (NEW SETPOINT), the new setpoint will not be processed.
7.10.10 0x60FA Control Effort
This object shows the control effort as the output of the position control loop.
Table 7-99 Control Effort
0x60FA Control Effort
Access: RO
Default: 0
PDO Mappable: TxPDO
Motion Profiles: PP
Description: This object shall provide the control effort as the output of the position control loop.
114
Requested target position
Maximim position range limit
32 32
Range: -2 to 2 -1
450
= mod
360
Size: 4 bytes Unit: N/A
Type: Integer / DINT
Update rate: Every Network Cycle Period
= 90
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