10.2.3 Current position and contouring errors
Parameter Act. Position 1108 returns the actual position in user units.
Parameter Act. Contouring Error 1109 returns the actual contouring error.
The contouring error can be monitored internally in order to trigger a device error once
a threshold is reached. For details on parameters
Fault Reaction 1120, Warning
1105, Error Threshold 1106 and Contouring Error Time 1119, refer to
application manual “Positioning”.
10.2.4 Target window
The target window monitors the current position after completion of a positioning
operation. A positioning operation is complete as soon as the current position is in
the target window. Via parameter Target Window 1165
which distance from the target position the signal "Target Reached" is set. This set-
ting is valid both for the positive and negative direction.
If the parameter value is set to 0, the operation will be complete as soon as the
Position reference value reaches the target position.
For the Position reference value
an internal value is used, that is calculated anew depending on the profile data for
each internal cycle step.
Via parameter Target Window Time 1166, you can define how long the axis must
be in the target window before "Target Reached" is signaled.
The size of the target window affects the automatic sequence of motion blocks be-
cause the positioning operation requires a higher precision in the case of a small
target window (small tolerance). The following motion block is started when the
target window is reached.
10/13
ACU
Modbus/TCP 59
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