AKD EtherCAT | 5 Appendix
5.3.97 Object 60FCh: Position demand internal value (DS402)
This object provides the output of the trajectory generator in position modes. The value is con-
sistent in scaling to the actual internal position value (6063h) and the first setpoint in object
60C1h.
Index
60FCh
Name
Position demand internal value
Object code
VAR
Data type
INTEGER32
Category
optional
Access
R/O
PDO mapping
possible
Value range
INTEGER32
Default value
0
5.3.98 Object 60FDh: Digital inputs (DS402)
This index defines simple digital inputs for drives. The manufacturer bits 16 to 22 display the
actual state of the digital inputs 1 to 7 (DINx.STATE). The manufacturer bits 24 to 30 latch a
state change of the digital inputs 1 to 7. Bits 24 to 30 can be reset with object"20B8h" (
125).
Index
60FDh
Name
digital inputs
Object code
VAR
Data type
UNSIGNED32
Category
optional
Access
R/O
PDO mapping
possible
Value range
UNSIGNED32
Default value
0
31
16
15
4
3
2
1
0
manufacturer specific
reserved
enable
home
switch
pos. limit
switch
neg. limit
switch
MSB
LSB
166
Kollmorgen | kdn.kollmorgen.com | October 2017
