PD4-EB EtherCAT Online Manual

60E5h Additional Velocity Actual Value

Function

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

Object description

Index 60E5h
Object name Additional Velocity 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

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 02h
Subindex 01h - 02h
Name Additional Velocity Actual Value #1 - #2
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 speed of the corresponding feedback.

    Subindex 01h always corresponds to the first (and always existing) sensorless feedback. Subindex 02h corresponds to internal encoder.

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