CDHD Variables and Commands
VarCom Reference Manual 313
PELOOP
Definition Position Loop Position Error
Type Variable (R)
Description Position error value used by the position loop
Syntax PELOOP
Firmware 1.2.12
Drive status Enabled | Disabled
Range ±(2
31
1) [rev]
Default value Not Applicable
Unit If MOTORTYPE 0 (Rotary):
UNITSROTPOS 0 = rev
UNITSROTPOS 1 = count
UNITSROTPOS 2 = deg
UNITSROTPOS 3 = user-defined multiples of
revolutions (PNUM÷PDEN)
If MOTORTYPE 2 (Linear):
UNITSLINPOS 0 = pitch
UNITSLINPOS 1 = count
UNITSLINPOS 3 = mm
UNITSLINPOS 4 = user-defined multiples of pitch
(PNUM÷PDEN)
Non-volatile No
See also
CANopen 20A3h, sub-index 0
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