Estun Summa Series - Position Control Function

Summa Series Servodrive Product Manual
Appendix
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
12-57
Value
Description
35
Homing on the current position
Homing Speeds (6099h)
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6099h
0
Homing
speeds
UINT8
RO
No
2
1
Speed
during
search for
switch
UINT32
RW
Yes
0 to 4294967295
Default: Pn721
Unit: 0.1 rpm
2
Speed
during
search for
zero
UINT32
RW
Yes
0 to 4294967295
Default: Pn722
Unit: 0.1 rpm
NOTE: This value is limited by 607Fh and 6080h.
Homing Acceleration (609Ah)
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
609Ah
0
Home
Acceleration
UINT32
RW
Yes
0 to 4294967295
Default: Pn723
12.3.7 Position Control Function
Position Demand Value (6062h)
This object specifies the current reference position in user position reference units.
This value is 0 in Velocity Mode.
Index
Subindex
Name
Data Type
Access
PDO Mapping
Value
6062h
0
Position
Demand
Value
INT32
RO
Yes
-2147483648 to
2147483647
Position Actual Internal Value (6063h)
This object gives the current feedback position in encoder pulse units.
 For the absolute encoder and the homing operation has been completed, this value represents the
actual position value of the Motor encoder.
 For the incremental encoder or the homing operation has not been completed, this value represents the
number of pulses (encoder units).
This value is 0 in Velocity Mode.