Register 10h: Fast position, byte 4
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
Fast position, byte 4
Bit 39 Bit 32
Register 11h: Fast position, byte 3
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
Fast position, byte 3
Bit 31 Bit 24
Register 12h:
Fast position, byte 2
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
Fast position, byte 2
Bit 23 Bit 16
Register 13h:
Fast position, byte 1
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
Fast position, byte 1
Bit 15 Bit 8
Register 14h:
Fast position, byte 0
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
Fast position, byte 0
Bit 7 Bit 0
Bit 39-0 Fast position, byte 4/3/2/1/0:
Position value of the motor feedback system (length: 40 bits), incrementally generated.
6.3.13 Speed
The VEL speed registers contain the speed values of the connected motor feedback
system. This value is calculated as a Δ position from the acceleration value (ΔΔposi‐
tion) transmitted on the process data channel and the currently updated protocol
frame (see chapter 3).
The speed sampling point is determined by the ES value of the SYNC_CTRL register. The
units of the speed value are (steps/frame cycle time).
These registers are write protected.
CAUTION
The speed value must not be used for safety functions.
Register 15h: Speed, byte 2
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
Speed, byte 2
Bit 23 Bit 16
Register 16h:
Speed, byte 1
REGISTER MAP 6
8017595/ZTW6/2018-01-15 | SICK T E C H N I C A L I N F O R M A T I O N | HIPERFACE DSL
®
45
Subject to change without notice
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