12.5.15 0x6065/0 Following error window
0xFFFF FFFF
• Motion Control:
• Non motion Control (conf. ≠ x40)
Object 0x6065
following error window
is used to set the threshold of a device warning
when the following error becomes too big.
In the application manual “Positioning”, the term “Contouring error” is used instead of
the CANopen
®
term “Following error”.
Object 0x6065
following error window
defines a range of tolerated position values
symmetrical to the
position demand value
defined in user units.
The valid value range of object 0x6065/0
following error window
(2
31
-1). Writing a value of 0x8000 0000 (2
31
)… 0xFFFF FFFE (2
32
-
2) results in an SDO
abort (value range).
If the value of the
following error window
is set to 0xFFFF FFFF (2
32
-1) OR 0, the
fol-
lowing error window
is switched off.
The actual following error is displayed in object 0x60F4 Following error actual value.
The warning is triggered if the Following error window was exceeded for the time spec
i-
fied in Object 0x6066
following error time out
. No device fault is triggered.
Writing to object
following error window
automatically generates a write command to
contouring error parameter Warning Threshold 1105
(data set 5, all data sets in RAM
only !).
If object 0x6065/0 was written and then a save parameters command (object 0x1010)
processed, the object value is stored in non volatile memory.
After the next power on of the inverter, the previously set value is reactivated and
overwrites the setting of
1105.
The dimension of the user units is defined by 0x6091
Gear ratio
and 0x6092
Feed con-
stant
.
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
126 CM-CAN ACU 04/13
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