NANOTEC PD4-C - 6067 H Position Window; 6068 H Position Window Time

9 Description of the object dictionary
Firmware version FIR-v1426
Change history
Firmware version FIR-v1504: "Savable" entry changed from "no" to
"yes, category: application".
Description
If the actual position deviates so much from the demand position that the value of object 6065
h
is exceeded,
bit 13 in object 6041
h
is set. The deviation must persist for longer than the time defined in this object.
A reaction to the following error can be set in object 3700
h
. If a reaction is defined, an error is also entered in
object 1003
h
.
6067h Position Window
Function
Specifies a range symmetrical to the target position within which that target is considered having been met in
modes Profile Position and Interpolated Position Mode.
Object description
Index 6067
h
Object name Position Window
Object Code VARIABLE
Data type UNSIGNED32
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0000000A
h
Firmware version FIR-v1426
Change history
Firmware version FIR-v1504: "Savable" entry changed from "no" to
"yes, category: application".
Description
If the current position deviates from the target position by less than the value of this object, bit 10 in object
6041
h
is set. The condition must be satisfied for longer than the time defined in object 6066
h
.
If the value is set to "FFFFFFFF"
h
, monitoring is switched off.
6068h Position Window Time
Function
The current position must be within the "Position Window" (6067
h
) for this time in milliseconds for the target
position to be considered having been met in the Profile Position and Interpolated Position Mode modes.
Object description
Index 6068
h
Object name Position Window Time
Version: 2.0.1 / FIR-v1650 222