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8.7 Object 6004h: Position value
The object 6004h "Position Value" defines the output position value.
Index
Description
Data type
Category
Access
PDO mapping
8.8 Object 6030h: Speed
The object 6030h represents the output speed value, which is given in rpm (standard
setting), the resolution is given in "Object 2005h: TR-Speed unit".
The speed value is signed and is output as a two's complement.
Code Sequence setting = increasing
- Output positive, turning clockwise (view onto flange side)
Code Sequence setting = decreasing
- Output negative, turning clockwise (view onto flange side)
Index
Description
Data type
Category
Access
PDO mapping
Sub-Index 1:
If
the
of -2147483648...+2147483647, the limit values (0x7FFF FFFF or 0x8000 0000) will
be output.
The update of the speed value under the SDO object 0x6030:01 of the object
directory only takes place when the object 0x6030:01 has been mapped to the
process data.
Printed in the Federal Republic of Germany
06/20/2017
0x6004
Position Value
UNSIGNED32
Mandatory
ro
Yes
Byte 0
Byte 1
7
0
15
2
to 2
2
0x6030
Speed Value
Integer32
Optional
ro
Yes
Byte 0
Byte 1
7
0
15
2
to 2
2
value
range
of
TR - ECE - BA - DGB - 0127 - 04
Position value
Byte 2
8
23
to 2
2
to 2
Speed value
Byte 2
8
23
to 2
2
to 2
the
speed
is
under
Byte 3
16
31
24
2
to 2
Byte 3
16
31
24
2
to 2
or
over
the
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