7.10.4 Parameter: Position Window (0x6067)
This object indicates the congured 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 having been reached.
The value is given in user-dened position units.
If the value of the position window is 0xFFFF FFFF, the position window control is switched
o (Target reached bit is not set).
Attribute Value
Index 0x6067
LCP parameter number –
Name Position window
Object code Var
Data type UNSIGNED32
Sub-index 0x00
Access Read/write
PDO mapping Optional
Value range UNSIGNED32
Default value
5°
Table 7.103 0x6067: Position Window
7.10.5 Parameter: Position Window Time (0x6068)
This object indicates the congured time, during which the actual position within the position window is measured. The
value is given in ms.
Attribute Value
Index 0x6068
LCP parameter number –
Name Position window time
Object code Var
Data type UNSIGNED16
Sub-index 0x00
Access Read/write
PDO mapping Optional
Value range UNSIGNED16
Default value 20 ms
Table 7.104 0x6068: Position Window Time
7.11
Prole Velocity Mode Objects
7.11.1 Parameter 52-20: Target Velocity (0x60FF)
This object indicates the congured target velocity and is used as input for the trajectory generator. The value is given in
user-dened velocity units.
Attribute Value
Index 0x60FF
LCP parameter number 52-20
Name Target velocity
Servo Drive Parameter Descr... Programming Guide
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