NP5 EtherCAT Online Manual

60E5h Additional Velocity Actual Value

Function

Contains the current actual speed of all existing feedbacks in user-defined units.

Object description

Index 60E5h
Object name Additional Velocity Actual Value
Object Code ARRAY
Data type INTEGER32
Savable no
Access read only
PDO mapping TX-PDO
Allowed values
Preset value
Firmware version FIR-v1738-B501312
Change history

Firmware version FIR-v1748-B538662: "Data type" entry changed from "UNSIGNED32" to "INTEGER32".

Firmware version FIR-v1748-B538662: "Data type" entry changed from "UNSIGNED32" to "INTEGER32".

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 04h
Subindex 01h - 04h
Name Additional Velocity Actual Value #1 - #4
Data type INTEGER32
Access read only
PDO mapping TX-PDO
Allowed values
Preset value 00000000h

Description

The subindices have the following function:

  • 00h: Value="1" to "n", where "n" is the number of existing feedbacks.
  • nh:

    Subindex n contains the current actual speed of the corresponding feedback.

    Subindex 01h always corresponds to the first (and always existing) sensorless feedback. The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors.

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