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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
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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