60E4h, 68E4h Additional position actual value - Axis #

This object indicates the actual position in user defined units for additional feedbacks. Each sub-index corresponds to a different feedback deviceClosedA process whereby some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position (ie: sub-index 1 is FB1.P, sub-index 2 is FB2.P etc).Objects 60E8h, 60E9h, 60EDh and 60EEh are used to scale 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.

Axis 1

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 60E4h 0h Unsigned8 - - Read only No
1st additional position actual value - Axis 1 60E4h 1h Signed32 - - Read only Yes
2nd additional position actual value - Axis 1 60E4h 2h Signed32 - - Read only Yes
3rd additional position actual value - Axis 1 60E4h 3h Signed32 - - Read only Yes
4th additional position actual value - Axis 1 60E4h 4h Signed32 - - Read only Yes
5th additional position actual value - Axis 1 60E4h 5h Signed32 - - Read only Yes

Axis 2

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 68E4h 0h Unsigned8 - - Read only No
1st additional position actual value - Axis 2 68E4h 1h Signed32 - - Read only Yes
2nd additional position actual value - Axis 2 68E4h 2h Signed32 - - Read only Yes
3rd additional position actual value - Axis 2 68E4h 3h Signed32 - - Read only Yes
4th additional position actual value - Axis 2 68E4h 4h Signed32 - - Read only Yes
5th additional position actual value - Axis 2 68E4h 5h Signed32 - - Read only Yes