0x243A - Internal target value cmd source
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x243A | 0x00 | Internal target value cmd source | INT32 | RO | No | No | Data type | - | motion units |
Contains the current target value, whatever the drive state or the selected command source.
This register is useful to get the current internal target value. For some command sources (like step and direction), the visible target register value is not updated until the drive enters in operation enable state. This register allows the application to know the internal target value before enter in operation state. This register is updated each time it is requested.
The units returned by this register depends on the mode of operation selected:
| Mode of operation | Units |
|---|---|
| Open loop vector | Dc bus / 32767 |
| Open loop scalar | Dc bus / 32767 |
| Profile torque | ‰ rated torque |
| Cyclic synchronous torque | ‰ rated torque |
| Velocity | rpm |
| Profile velocity | increments / s |
| Cyclic synchronous velocity | increments / s |
| Homing | increments / s |
| Interpolated position | increments |
| Profile position | increments |
| Cyclic synchronous position | increments |