Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-57
Value
Description
35
Homing on the current position
Homing Speeds (6099h)
Index
Subindex
Name
Data Type
Access
PDO Mapping Value
6099h
0
Homing
speeds
UINT8
RO
No
2
1
Speed
during
search for
switch
UINT32
RW
Yes
0 to 4294967295
Default: Pn721
Unit: 0.1 rpm
2
Speed
during
search for
zero
UINT32
RW
Yes
0 to 4294967295
Default: Pn722
Unit: 0.1 rpm
NOTE: This value is limited by 607Fh and 6080h.
Homing Acceleration (609Ah)
Index
Subindex Name
Data Type Access
PDO Mapping Value
609Ah
0
Home
Acceleration
UINT32
RW
Yes
0 to 4294967295
Default: Pn723
12.3.7
Position Control Function
Position Demand Value (6062h)
This object specifies the current reference position in user position reference units.
This value is 0 in Velocity Mode.
Index
Subindex
Name
Data Type
Access
PDO Mapping Value
6062h
0
Position
Demand
Value
INT32
RO
Yes
-2147483648 to
2147483647
Position Actual Internal Value (6063h)
This object gives the current feedback position in encoder pulse units.
For the absolute encoder and the homing operation has been completed, this value represents the
actual position value of the Motor encoder.
For the incremental encoder or the homing operation has not been completed, this value represents the
number of pulses (encoder units).
This value is 0 in Velocity Mode.
