YASKAWA Sigma-7 SGD7S Series

15.9 Position Control Function
This object provides the demanded position value in user position units.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
6062h Position
Demand Value
DINT RO TPZD - - Pos. units
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.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
6063h Position Actual
Internal Value
DINT RO TPZD - - Incre-
ments
This object represents the actual value of the position measurement device in defined
units.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
6064h Position Actual
Value
DINT RO TPZD - - Pos. units
This parameter indicates the configured range of tolerated position values symmetrically
to the position demand value. If the position actual value is out of the following error
window, a following error occurs. A following error may occur when a drive is blocked,
unreachable profile velocity occurs, or at wrong closed-loop coefficients.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
6065h Following Error
Window
UDINT RO No
0 to (2
31
-1)
(default: 32)
Yes Pos. units
A position actual value outside the allowed range of the following error window around a
position demand value for longer than the following error time out will toggle the following
error bit in the Statusword.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
6066h Following Error
Time Out
UINT RW No UINT
(default: 0)
Yes ms
Position Demand Value
Position Actual Internal
Value
Position Actual Value
Following Error Window
Following Error Time Out
Sigma-7 Series SERVOPACKs
Object Dictionary
Position Control Function
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