Kollmorgen S300

4.8 Position Control Function (pc) (DS402)
4.8.1 General Information
This section describes the actual position values that are associated with the position controller of
the drive. They are used for the profile position mode.
4.8.2 Objects that are defined in this section
Index Object Name Type Access
6063
h
VAR position actual value* INTEGER32 r
6064
h
VAR position actual value INTEGER32 r
6065
h
VAR following error window UNSIGNED32 rw
6067
h
VAR position window UNSIGNED32 rw
6068
h
VAR position window time UNSIGNED16 rw
4.8.3 Objects that are defined in other sections
Index Object Name Type Section
607A
h
VAR target position INTEGER32
pp (Þ p.84)
607C
h
VAR home-offset INTEGER32
hm (Þ p.81)
607Dh ARRAY software position limit INTEGER32
pp (Þ p.84)
607Fh VAR max. profile velocity UNSIGNED32
pp (Þ p.84)
6093
h
VAR position factor UNSIGNED32
fg (Þ p.62)
6094
h
ARRAY velocity encoder factor UNSIGNED32
fg (Þ p.62)
6096
h
ARRAY acceleration factor UNSIGNED32
fg (Þ p.62)
6040
h
VAR control word INTEGER16
dc (Þ p.56)
6041
h
VAR status word UNSIGNED16
dc (Þ p.56)
4.8.4 Object Description
4.8.4.1 Object 6063h: position actual value* (DS402)
The object position actual value provides the momentary actual position in increments.
The resolution is defined with Object 608F as power-of-two number (see PRBASE command).
Index 6063
h
Name
position actual value
Object code
VAR
Data type
INTEGER32
Mode
pc, pp
Access
rw
PDO mapping
possible
Unit
increments (1 turn = 2
PRBASE
)
Value range
(-2
31
) ... (2
31
-1)
Default value
2
20
EEPROM
no
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