Kollmorgen AKD series User Manual

MT.TPOSWND
General Information
Type R/W Parameter
Description
Sets the motion task target position window; active in opmode 2 (position)
only.
Units
Depends on UNIT.PROTARY or UNIT.PLINEAR
Rotary: counts, rad, deg, PIN/POUT, 16-bit counts
Linear: counts, mm, µm, PIN/POUT, 16-bit counts
Range N/A
Default Value 0.5 rev
Data Type Float
See Also DRV.MOTIONSTAT
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
35C6h/0 M_01-00-00-000
Modbus 560 (64-bit) M_01-03-00-000
Description
Within DRV.MOTIONSTAT, MT.TPOSWND is used to indicate that the target position of a motion task has
been reached. DRV.MOTIONSTAT displays a "Target Position Reached" bit as soon as the following statement
becomes true:
abs(actual_position – target_position) < MT.TPOSWND
Related Topics
12.2 Motion Tasks
AKD User Guide | MT Parameters and Commands
Kollmorgen | December 2010 533

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing