Control Techniques Nidec SI-EtherCAT User Manual page 81

7.3.26 0x60F4 Following_error_actual_value
This read only object provides the actual value of the following error. The value is given in user-
defined position units.
Table 7-46 Following_error actual_value
0x60F4 Following_error actual_value
Access: RO
Default: N/A
PDO Mappable: TxPDO
Motion Profiles: CSP, IP, PP
Description: This read only object provides the actual value of the following error.
7.3.27 0x60FB Position_control_parameter_set object
Table 7-47 Position_control_parameter_set object
0x60FB Position_control_parameter_set
Sub-index 0
Access: RO
Default: 2
PDO Mappable: No
Motion Profiles: ALL
Description: The number of control loop parameters.
Sub-index 1
Access: RW
The default value, is that of drive
Default: parameter Pr 39.007 for the drive
derivative
PDO Mappable: RxPDO & TxPDO
Description: The position controller proportional gain.
Sub-index 2
Access: RW
The default value, is that of drive
Default: parameter Pr 39.010 for the drive
derivative
PDO Mappable: RxPDO & TxPDO
Description: The position controller speed feed forward gain.
The AMC position controller (Advanced Motion Controller) kernel is used by the basic internal
position control, this object is only available with drives support AMC and when the AMC is
enabled.
The position_demand_value object contains the value supplied by either the interpolated position
mode or the profile position mode (in user units). It is updated every control loop cycle. The values
in the position_control_parameter_set will be read in the background, so they cannot be mapped
cyclically (i.e. including them in PDOs is not allowed).
DO NOT USE THIS OBJECT. It is not supported by EtherCAT standard and will be
NOTE
removed in future releases.
SI-EtherCAT User Guide
32 32
Range: -2 to 2 -1
Range: N/A
Range: 0 to 500000
Range: 0 to 2000
Size: 4 bytes
Type:Signed integer / DINT
Update rate: Every network cycle period
Size: 1 byte
Type: Unsigned integer / USINT
Update rate: N/A
Size: 4 bytes
Type: Signed integer / UDINT
Update rate: Background sync with Pr 39.007
Size: 2 bytes
Type: Signed integer / UINT
Update rate: Background sync with Pr 39.010
Unit: N/A
Unit: N/A
Unit: See Pr 39.007
Unit: See Pr 39.010
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