Elmo DSP 402 Object 0x6067 Position window, Index, 6067h, Object 0x6068: Position window time

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

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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 real-time level. Therefore, the following points must be taken into account:

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