PD4-E CANopen 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 UNSIGNED32
Savable no
Access read only
PDO mapping TX-PDO
Allowed values  
Preset value  
Firmware version FIR-v1738-B501312
Change history  

Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping TX-PDO
Allowed values  
Preset value 02h


Subindex 01h - 02h
Name Additional Position Actual Value #1 - #2
Data type UNSIGNED32
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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