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Object 0x606E: Velocity window time
The corresponding bit 10 target reached is set in the statusword when the difference
between the target velocity and the velocity actual value is within the velocity window longer
than the velocity window time. The value of the velocity window time is given in multiples of
milliseconds.
Object description:
Index 606Eh
Name Velocity window time
Object code VAR
Data type UNSIGNED16
Category Optional
Entry description:
Access Read/write
PDO mapping No
Value range UNSIGNED16
Default value 0
Object 0x606F: Velocity threshold
As soon as the velocity actual value exceeds the velocity threshold longer than the velocity
threshold time bit 12, velocity = 0, is reset in the statusword. Below this threshold, the bit is
set and indicates that the axle is stationery. The value is given in velocity units.
Object description:
Index 606Fh
Name Velocity threshold
Object code VAR
Data type UNSIGNED16
Category Optional
Entry description:
Access Read/write
PDO mapping No
Value range UNSIGNED16
Default value No
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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