Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 93)

4.15.4 Object Decription

4.15.4.1 Object 6063h: position_actual_value* (DS402)

The Object position_actual_value provides the momentary actual position in increments.

The resolution is 16 bits or 20 bits per turn (see PRBASE command).

Index

0x6063

Name

position_actual_value

Object code

VAR

Data type

INTEGER32

Mode

pc, pp

Access

PDO mapping

possible

Unit

increments (1 turn = 16 bit / 20 bit)(see PRBASE)

Value range

(-2

) ... (2

-1)

Default value

—

EEPROM

4.15.4.2 Object 6064h: position_actual_value (DS402)

The Object position_actual_value provides the actual position. The resolution (manufacturer-speci-

fic units: see Objects 2020

/09

or as per drive profile DSP402: see Object 607A

) can be alte-

red by the gearing factors of the position controller.

Note: this Object should not be defined (mapped) in a synchronous TPDO.

Index

0x6064

Name

position_actual_value

Object code

VAR

Data type

INTEGER32

Mode

pc, pp

Access

PDO mapping

possible

Unit

position units

Value range

(-2

) ... (2

-1)

Default value

—

EEPROM

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