CiA 402 Standard actual values for position, speed and motor current
Index |
Subindex |
Type |
Access |
Name [units] |
Description |
6064h |
0h |
integer32 |
RO |
Position actual value |
Current actual position, taking into account the set position units and zero position, as well as special setting for rotating and relative movement. |
606Ch |
0h |
integer32 |
RO |
Velocity actual value |
Actual velocity |
6078h |
0h |
integer16 |
RO |
Current actual value |
Actual value of the current motor (phase) current, proportional to torque/force, see also current/torque/force limitation. |
*1) Without different setting of position units/scaling, the internal resolution of the measuring system (encoder resolution) is used.
*2) Unless position units/scaling is set differently, the unit used is revolutions/minute.
To read out actual values, you can enter the corresponding REFGO command via the web interface or open a TCP client connection to your servo drive's TCP port 10001:
RefGo Command OR606C,0 --> Object Read 606Ch.00h actual velocity
RefGo Response OR606C,0,-156 --> Answer: -156 [rpm]
MovingCap actual valueS
Index |
Subindex |
Type |
Access |
Name [units] |
Description |
3401h |
0Ah |
unsigned8 |
RO |
motor actual temperature |
Current motor temperature. Depending on the MovingCap variant, the winding or electronics temperature, or the combined measured value (the higher of the two). |
Example for reading out the temperature value:
RefGo Command OR3401,A --> Object Read 3401h.0Ah actual temperature
RefGo Response OR3401,A,61 --> Answer: 61 [°C]
UsingUsing the Kickdrive Scope Module
Use MovingCap SLCAN - CANopen CiA 402 with Kickdrive and the convenient Scope in Kickdrive with recording and trigger functions. See the Kickdrive User Manual - Scope Module for more information.
