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49Part 2: DSP-402 Implementation
Section 8
Position Control Function
General Information
In this chapter, all parameters are described which are necessary for a closed loop position control. The control loop is fed
with the position_demand_value as one of the outputs of the Trajectory Generator and with the output of the position detec-
tion unit (position_actual_value) like a resolver or encoder as input parameters.
Object 6062
h
— Position Demand Value
This object shall provide the demanded position value. The value shall be given in motor steps.
Object Description
Index
6062
h
Name
Position Demand Value
Object Code
VAR
Data Type
Integer 32
Entry Description
Access
r
PDO Mapping
n/a
Range
Integer 32
Default
n/a
Object 6063
h
— Position Actual Value Internal
This object shall provide the actual value of the position measurement device, which shall be one of the two input values of
the closed-loop position control
Object Description
Index
6063
h
Name
Position Actual Value*
Object Code
VAR
Data Type
Integer 32
Entry Description
Access
r
PDO Mapping
n/a
Range
Integer 32
Default
n/a
Object 6064
h
— Position Actual Value
This object represents the actual value of the position measurement device microsteps.
Object Description
Index
6064
h
Name
Position Actual Value
Object Code
VAR
Data Type
Integer 32
Entry Description
Access
r
PDO Mapping
n/a
Range
Integer 32
Default
n/a