5.3.55 Object 6061h: Modes of Operation Display (DS402)
This object can be used to read the mode that is set by Object 6060h. An operating mode
only becomes valid when it can be read by Object 6061h (see also Object 6060h).
Index
6061h
Name
mode of operation display
Object code
VAR
Data type
INTEGER8
Category
mandatory
Access
R/O
PDO mapping
possible
Value range
-3, -2, -1, 1, 3, 4, 6, 7, 8, 9, 10
Default value
—
5.3.56 Object 6063h: position actual value* (DS402)
The object position actual value provides the momentary actual position in increments. If
FB1.EXTENDEDMULTITURN is configured, the saved extended multiturn position will be
returned
The resolution is defined with Object 608F as power-of-two number.
Index
6063h
Name
position actual value
Object code
VAR
Data type
INTEGER32
Mode
pc, pp
Access
R/W
PDO mapping
possible
Unit
increments (1 turn = 2
FB1.PSCALE
)
Value range
(-2
31
) to (2
31
-1)
Default value
2
20
EEPROM
no
5.3.57 Object 6064h: position actual value (DS402)
The object position actual value provides the actual position (PL.FB). If
FB1.EXTENDEDMULTITURN is configured, the saved extended multiturn position will be
returned. The resolution can be altered by the gearing factors of the position controller (Object
6091/6092).
Index
6064h
Name
position actual value, PL.FB
Object code
VAR
Data type
INTEGER32
Mode
pp, csp
Access
R/W
PDO mapping
possible
Unit
position units
Value range
(-2
31
) to (2
31
-1)
Default value
—
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
137
