Nidec Digitax HD M753 EtherCAT User Manual Download Page 112

Page: 112 / 262

112

Digitax HD M753 Control User Guide

Issue Number: 3

9.18.17 0x6062 Position_demand_value

This read only object is used to provide the currently demanded position
value. The value is given in user defined position units.

Table 9-64 Position_demand_value

9.18.18 0x6064 Position_actual_value

This read only object provides the actual value of the position feedback
device. The value is given in internal units.

Table 9-65 Position_actual_value

9.18.19 Following error window

This object can be used to indicate and configure the range of position
values, symmetrical to the position demand value, outside of which a
following error occurs. The value is given in user-defined position units.

Table 9-66 Following error window

9.18.20 Position window

This object can be used to indicate and configure the symmetrical range
of acceptable position values relative to the target position, within which
the target position will be regarded as having been reached. The value is
given in user-defined position units.

Table 9-67 Position window

9.18.21 Motor rated current

This object indicates the configured motor rated current. The value is
given in mA.

Table 9-68 Motor rated current

9.18.22 0x6080 Max motor speed

Table 9-69 Max motor speed

9.18.23 0x60F4 Following_error_actual_value

This read only object provides the actual value of the following error.
The value is given in userdefined position units.

Table 9-70 Following_error actual_value

9.18.24 0x60FB Position_control_parameter_set

object

Table 9-71 Position_control_parameter_set object

The AMC position controller (Advanced Motion Controller) kernel is used
by the basic internal position control, this object is only available 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).

0x6062

Position_demand_value

Sub-index 0

Access: RO

Range:
0x80000000 to
0x7FFFFFFF

Size: 4 bytes

Unit: N/A

Default: N/A

Type:

DINT

Description:

Used to provide the currently demanded position value.

0x6064

Position_actual_value

Sub-index 0

Access: RO

Range:
0x80000000 to
0x7FFFFFFF

Size: 4 bytes

Unit: N/A

Default: N/A

Type:

DINT

Description:

This read only object provides the actual value of the position
feedback device. The value is given in internal units.

0x6065

Following error window

Sub-index 0

Access: RW

Range: Range: 0
to 0x7FFFFFFF

Size: 4 bytes

Unit: N/A

Default: 0x7FFFFFFF

Type:

UDINT

Description:

Permitted range of position values before a following error occurs.

0x6067

Position window

Sub-index 0

Access: RW

Range: 0 to
0x7FFFFFFF

Size: 4 bytes

Unit: N/A

Default: 0x7FFFFFFF

Type:

UDINT

Description:

Permitted range of position values for target position to be
regarded as reached.

0x6075

Motor rated current

Sub-index 0

Access: RW

Range: 0 to
0xFFFFFFFF

Size: 4 bytes

Unit: mA

Default: 0xFFFFFFFF

Type:

UDINT

Description:

Motor rated current value derived from Pr

05.007

0x6080

Max motor speed

Sub-index 0

Access: RW

Range: 0 to
40000

4 bytes

Unit: rpm

Default: N/A

Type:

UDINT

Description:

This object indicates the configured maximum allowed speed for
the motor in either direction. It is used to protect the motor and
changing the value of this object will also change Pr

1.006

The value is given in rotations per minute (rpm). Changing
Pr

1.006

will also automatically update the value in the objects.

0x60F4

Following_error actual_value

Sub-index 0

Access: RO

Range: 0 to
0xFFFFFFFF

Size: 4 bytes

Unit: N/A

Default: N/A