TR-Electronic MP-200 - Object 0 X606 E: Velocity Window Timeout; Object 0 X606 F: Velocity Threshold; Object 0 X6070: Velocity Threshold Timeout

Printed in the Federal Republic of Germany  TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 101 of 153
9.4.22 Object 0x606E: Velocity Window Timeout
Object code
VAR
Data type
UNSIGNED16
Attribute
rw
Default
0
Min
-
Max
-
PDO mapping
yes
Description
The corresponding bit 10 “Target reached” is set in the status word when the
difference between the “Target velocity” and the “Velocity actual value” is within
the “Velocity window” longer than the “Velocity window timeout”. The value is
given in multiples of milliseconds.
9.4.23 Object 0x606F: Velocity Threshold
Object code
VAR
Data type
UNSIGNED16
Attribute
rw
Default
-
Min
-
Max
-
PDO mapping
yes
Description
As soon as the “Velocity actual value” exceeds the “Velocity threshold” longer than
the “Velocity threshold timeout” bit 12 velocity = 0 is reset in the status word.
Below this threshold the bit is set and indicates that the axle is stationary. The
value is given in speed units.
9.4.24 Object 0x6070: Velocity Threshold Timeout
Object code
VAR
Data type
UNSIGNED16
Attribute
rw
Default
-
Min
-
Max
-
PDO mapping
yes
Description
The value is given in multiples of milliseconds, description see object 606Fh