60E4h, 68E4h Additional position actual value - AxisX
This object indicates the actual position in user defined units for additional feedbacks. Each sub-index corresponds to a different feedback device (ie: sub-index 1 is FB1.P, sub-index 2 is FB2.P etc). Objects 60E8h, 60E9h, 60EDh and 60EEh, 68EEh Additional feed constant - driving shaft revolutions - AxisX are used to scale this value. Object 60F1h, 68F1h Additional encoder inversion - AxisX permits inverting the position provided in the corresponding sub-index of this value.
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- Depending on the drive model, not all feedbacks will be present. These invalid sub-indexes will return errors when accessed.
See CANopen Scaling, Position Scaling.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 60E4h | 0 | Unsigned8 | - | - | Read only | No | All |
| 1st additional position actual value - Axis 1 | 60E4h | 1 | Signed32 | - | - | Read only | Yes | All |
| 2nd additional position actual value - Axis 1 | 60E4h | 2 | Signed32 | - | - | Read only | Yes | All |
| 3rd additional position actual value - Axis 1 | 60E4h | 3 | Signed32 | - | - | Read only | Yes | All |
| 4th additional position actual value - Axis 1 | 60E4h | 4 | Signed32 | - | - | Read only | Yes | All |
| 5th additional position actual value - Axis 1 | 60E4h | 5 | Signed32 | - | - | Read only | Yes | All |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable | SMM Versions |
|---|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 68E4h | 0 | Unsigned8 | - | - | Read only | No | All |
| 1st additional position actual value - Axis 2 | 68E4h | 1 | Signed32 | - | - | Read only | Yes | All |
| 2nd additional position actual value - Axis 2 | 68E4h | 2 | Signed32 | - | - | Read only | Yes | All |
| 3rd additional position actual value - Axis 2 | 68E4h | 3 | Signed32 | - | - | Read only | Yes | All |
| 4th additional position actual value - Axis 2 | 68E4h | 4 | Signed32 | - | - | Read only | Yes | All |
| 5th additional position actual value - Axis 2 | 68E4h | 5 | Signed32 | - | - | Read only | Yes | All |
