
CANopen DSP 402 Implementation Guide
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Object 0x6067: Position window
This object defines a symmetrical range of accepted positions relative to the target position. If the actual value of the position encoder is within the position window, this target position is regarded as reached. Because the position window is usually specified in user- defined units, the position factor must be used to transform this value into increments. Before it can be used with this function, the target position must be handled in the same manner as in the trajectory generator for limiting functions and transformation into internal machine units.
The Elmo drive always checks the target position window in its own setup parameters TR[1] and TR[2] at the
The position error mechanism cannot be switched off.
The limits of the position window and the position window time (in internal units) are 32,000 increments and 100 milliseconds, respectively.
Object description:
| Index |
| 6067h |
| Name |
| Position window |
| Object code |
| VAR |
| Data type |
| UNSIGNED32 |
| Category |
| Optional |
Entry description: |
|
| |
|
|
|
|
| Access |
| Read/write |
| PDO mapping |
| No |
| Value range |
| UNSIGNED32 |
| Default value |
| No |
Object 0x6068: Position window time
When the actual position is within the position window during the defined position window time — given in multiples of milliseconds — the corresponding bit 10 target reached in the statusword is set to 1. Refer to the description in the position window object.
Object description:
Index | 6068h |
Name | Position window time |
Object code | VAR |
Data type | UNSIGNED16 |
Category | Optional |