BONFIGLIOLI Vectron Active Cube

12.5.41 0x60F4/0 Following error actual value
Index
Sub-index
Meaning
Data type
Access
Map
Def.-Val
0x60F4
0
Following error actual value
Integer32
ro
Tx
Object works in:
• Motion Control:
o All modes
Object doesn’t work in:
• Non motion Control (conf. ≠ x40)
In the application manual “Positioning”, the term “Contouring error” is used instead of
the CANopen
®
term “Following error”.
Object 0x60F4 shows the following error actual value . The value is the same like stat-
ed in parameter Actual Contouring error 1109.
The allowed following error is defined by object 0x6065 Following error window .
The dimension of the user units is defined by 0x6091
Gear ratio and 0x6092
Feed
constant .
The Contouring error can be monitored internally to trigger a device fault if a set
threshold was reached. Please refer to the Application manual “Positioning” for details
concerning the parameters Fault reaction 1120, Warning threshold 1105, Error
Threshold 1106 and Contouring error Time 1119.
Example:
COB ID
CB
Index
SI
Data
Read Request
601
40
C1 60
00
00 00 00 00
Reply
581
43
C1 60
00
05 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
04/13 CM-CAN ACU 151