CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 4: Control Loop Configuration
INSTANTANEOUS COMMANDED VELOCITY INDEX 0X2250
Type Access Units Range Map PDO Memory
Integer 32 RO 0.1 counts / sec - YES -
Description
This is the velocity output from the trajectory generator. It is the velocity by which the position
loop's Position Loop Velocity Feed Forward gain (Index 0x2382, Sub-Index 2, p. 139) is multiplied.
INSTANTANEOUS COMMANDED ACCELERATION INDEX 0X2251
Type Access Units Range Map PDO Memory
Integer 32 RO
10 counts / sec 2
- YES -
Description
This is the acceleration output from the trajectory generator. It is the acceleration by which the
position loop's gain (Index 0x2382, Sub-Index 3, p. 140) is multiplied.
POSITION COMMAND VALUE INDEX 0X6062
Type Access Units Range Map PDO Memory
Integer 32 R0 counts - YES -
Description
This is the motor position (in units of counts) to which the amplifier is currently trying to move the
axis. This value is updated every servo cycle based on the amplifier's internal trajectory generator.
Identical to Position Command Value (index 0x6062. p. 137).
POSITION ACTUAL VALUE INDEX 0X6063
Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES R
Description
This is the actual motor position as calculated by the amplifier every servo cycle based on the
state of the encoder input lines, and as used by the position loop. For single encoder systems, this
is the same as the Motor Encoder Position object (index 0x2240). For dual encoder systems, it is
the same as Load Encoder Position (index 0x2242, p. 142).
POSITION ACTUAL VALUE INDEX 0X6064
Type Access Units Range Map PDO Memory
Integer 32 RW counts - YES R
Description
This object holds the same value as Position Actual Value object (index 0x6063, p. 137).
Copley Controls 137