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CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
65
10.2 Objects
Object 0x6062: Position demand value
The value of this object is taken from the internal position command and is given in
position units after being converted by position factor.
Object description:
Index 6062h
Name Position demand value
Object code VAR
Data type INTEGER32
Category Optional
Entry description:
Access Read only
PDO mapping Yes
Value range INTEGER32
Default value 0
Object 0x6063: Position actual value
The actual value of the position measurement device is one of the two input values of the
closed loop position control. The data unit is defined as increments.
Object description:
Index 6063h
Name Position actual value - increments
Object code VAR
Data type INTEGER32
Category Mandatory
Entry description:
Access Read only
PDO mapping Yes
Value range INTEGER32
Default value 0
Notes:
Value range submits to the position range limits as defined in the specific drive.
For the Harmonica servo drive: ±1 * 10
9
This object has a write access when the motor is not enabled.