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.


  • 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