CL4-E CANopen/USB/Modbus RTU Online Manual

60E4h Additional Position Actual Value

Function

Contains the current actual position of all existing feedbacks in user-defined units.

Object description

Index 60E4h
Object name Additional Position Actual Value
Object Code ARRAY
Data type INTEGER32
Savable no
Access read only
PDO mapping TX-PDO
Allowed values
Preset value
Firmware version FIR-v1738-B501312
Change history

Firmware version FIR-v1748-B538662: "Data type" entry changed from "UNSIGNED32" to "INTEGER32".

Firmware version FIR-v1748-B538662: "Data type" entry changed from "UNSIGNED32" to "INTEGER32".

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 03h
Subindex 01h - 03h
Name Additional Position Actual Value #1 - #3
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h

Description

The subindices have the following function:

  • 00h: Value="1" to "n", where "n" is the number of existing feedbacks.
  • nh:

    Subindex n contains the current actual position of the corresponding feedback.

    Subindex 01h always corresponds to the first (and always existing) sensorless feedback.

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