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

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Access

PDO Mapping

Range

 

Default

 

 

r

n/a

Unsigned 32

 

n/a

 

 

 

 

 

 

 

 

 

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 manufacturer-specific. The value shall be given in milliseconds.

Object Description

 

Index

Name

 

Object Code

Data Type

 

6066h

Following Error Timeout

VAR

Unsigned 32

Entry Description

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Access

PDO Mapping

Range

 

Default

 

 

r

n/a

Unsigned 32

 

n/a

 

 

 

 

 

 

 

 

 

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

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Access

PDO Mapping

Range

 

 

Default

 

 

r

n/a

Unsigned 16

 

Mfg-Specific

 

 

 

 

 

 

 

 

 

50

MDrivePlus CANopen R020507

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Intelligent Motion Systems DSP-402 manual h Following Error Window, h Following Error Timeout, h Position Window Time