Object 6065h — Following Error Window
This object shall indicate the conFigure d range of tolerated position values symmetrically to the position demand value. If the position actual value is out of the following error window, a following error occurs. A following error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed- loop coefficients. The value shall be given in user defined position units. If the value of the following error window is FFFF FFFFh, the following control shall be switched off.
Object Description
| Index | Name |
| Object Code | Data Type | ||
| 6065h | Following Error Window | VAR | Unsigned 32 | |||
Entry Description |
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| Access | PDO Mapping | Range |
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| r | n/a | Unsigned 32 |
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Object 6066h — Following Error Timeout
This object shall indicate the conFigure d time for a following error condition, after that the bit 13 of the statusword shall be set to 1. The reaction of the drive when a following error occurs is
Object Description
| Index | Name |
| Object Code | Data Type | ||
| 6066h | Following Error Timeout | VAR | Unsigned 32 | |||
Entry Description |
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| Access | PDO Mapping | Range |
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| r | n/a | Unsigned 32 |
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Object 6068h — Position Window Time
This object shall indicate the conFigure d time, during which the actual position within the position window is measured. The value shall be given in milliseconds.
Object Description
| Index | Name |
| Object Code | Data Type | ||
| 6068h | Position Window Time | VAR | Unsigned 16 | |||
Entry Description |
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| Access | PDO Mapping | Range |
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| r | n/a | Unsigned 16 |
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50 | MDrivePlus CANopen R020507 |