15.9 Position Control Function
15-33
15
Object Dictionary
15.9
Position Control Function
Position Demand Value (6062h)
This object specifies the current reference position in user position reference units.
Position Actual Internal Value (6063h)
This object gives the current feedback position in encoder pulse units.
Position Actual Value (6064h)
This object gives the current feedback position in user position reference units.
Position Demand Internal Value (60FCh)
This object gives the output of the trajectory generator during position control (the position that
is input to the position loop). The value is given in encoder pulses.
Following Error Window (6065h)
This object defines the detection range for the following error (bit 13 of
statusword
).
If the position deviation exceeds the
following error window
for the
following error time out
(6066h), bit 13 in
statusword
changes to 1 to indicate following error. A following error can
occur when the Servo Drive is blocked, when the profile speed is too high, or when the gain
settings are not correct.
Following Error Time Out (6066h)
If the position deviation exceeds the
following error window
for the time specified in this object,
bit 13 in
statusword
changes to 1 to indicate following error.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6062h
0
Position demand
value
DINT
RO
Yes
−
[Pos. unit]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6063h
0
Position actual inter-
nal value
DINT
RO
Yes
−
[inc]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6064h
0
Position actual value
DINT
RO
Yes
−
[Pos. unit]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
60FCh
0
Position demand
internal value
DINT
RO
Yes
−
[inc]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6065h
0
Following error win-
dow
UDINT
RW
No
0 to 1,073,741,823
(default: 5,242,880)
[Pos. unit]
Yes
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
6066h
0
Following error time
out
UINT
RW
No
0 to 65,535
(default: 0) [ms]
Yes
