12.5.14 0x6064/0 Position actual value .......................................................................... 125
12.5.15 0x6065/0 Following error window ...................................................................... 126
12.5.16 0x6066/0 Following error time out ..................................................................... 127
12.5.17 0x6067/0 Position window ................................................................................. 128
12.5.18 0x6068/0 Position window time ......................................................................... 129
12.5.19 0x606C/0 Velocity actual value [u/s] .................................................................. 129
12.5.20 0x606D/0 Velocity Window ................................................................................ 130
12.5.21 0x606E/0 Velocity Window Time ........................................................................ 131
12.5.22 0x606F/0 Velocity Threshold .............................................................................. 132
12.5.23 0x6070/0 Velocity Threshold Time ..................................................................... 133
12.5.24 0x6071/0 Target Torque ................................................................................... 134
12.5.25 0x6077/0 Torque actual value ........................................................................... 134
12.5.26 0x6078/0 Current actual value ........................................................................... 135
12.5.27 0x6079/0 DClink circuit voltage .......................................................................... 135
12.5.28 0x607A/0 Target position .................................................................................. 136
12.5.29 0x607C/0 Home offset ...................................................................................... 137
12.5.30 0x6081/0 Profile velocity [u/s] ........................................................................... 138
12.5.31 0x6083/0 Profile acceleration ............................................................................. 139
12.5.32 0x6084/0 Profile deceleration ............................................................................ 140
12.5.33 0x6085/0 Quick stop deceleration ...................................................................... 141
12.5.34 0x6086/0 Motion profile type ............................................................................. 142
12.5.35 0x6091/n Gear ratio.......................................................................................... 143
12.5.36 0x6092/n Feed constant .................................................................................... 145
12.5.37 0x6098/0 Homing method ................................................................................. 146
12.5.38 0x6099/n Homing speeds .................................................................................. 148
12.5.39 0x609A/0 Homing acceleration .......................................................................... 149
12.5.40 0x60C1/1 Interpolation data record .................................................................... 150
12.5.41 0x60F4/0 Following error actual value ................................................................ 151
12.5.42 0x60F8/0 Max Slippage [u/s] ............................................................................. 152
12.5.43 0x60FF/0 Target Velocity .................................................................................. 153
13 Motion Control Interface (MCI) ................................................................................. 154
13.1 Object and parameter dependencies ............................................................... 155
13.2 Reference system ............................................................................................. 159
13.3 Homing ............................................................................................................. 160
13.3.1 Start position after homing ................................................................................... 160
13.3.2 Flying homing ...................................................................................................... 160
13.4 Position Controller ............................................................................................ 160
13.5 Move away from Hardware limit switches ....................................................... 161
13.6 Motion Control Interface for Experts ............................................................... 162
13.7 Motion Control Override ................................................................................... 163
14 Inverter Control ......................................................................................................... 164
14.1 Control via digital inputs/remote digital inputs ............................................... 165
14.1.1 Device State machine ........................................................................................... 167
14.2 Control via state machine ................................................................................. 168
14.2.1 Statemachine diagram ......................................................................................... 170
14.3 Non motion control configurations .................................................................. 173
14.3.1 Behavior in quick stop .......................................................................................... 173
14.3.2 Behavior in transition 5 (Disable operation) ............................................................ 174
14.3.3 Reference value / actual value .............................................................................. 175
14.3.4 Example Sequence ............................................................................................... 176
14.4 Motion control configurations .......................................................................... 177
6 CM-CAN ACU 04/13
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