TR-Electronic MP-200 - Object 0 X6067: In-Position Window; Object 0 X6068: In-Position Timeout; Object 0 X6069: Sensor Velocity

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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 99 of 153
9.4.16 Object 0x6067: In-Position Window
Object code
VAR
Data type
UNSIGNED32
Attribute
rw
Default
2
32
-1 (position window monitoring switched off)
Min
0
Max
2
32
-1
PDO mapping
yes
Description
This object defines a symmetrical interval around the target position (0x607A). If
the actual position value is in this interval, the target position is considered to
have been reached.
9.4.17 Object 0x6068: In-Position Timeout
Object code
VAR
Data type
UNSIGNED16
Attribute
rw
Default
100
Min
0
Max
2
16
-1
PDO mapping
yes
Description
The parameter value specifies the minimum time in 1 ms steps for which the
actual position value must be present in the position window, before "Target
reached" is indicated in the status word.
9.4.18 Object 0x6069: Sensor Velocity
Object code
VAR
Data type
INTEGER32
Attribute
ro
Default
-
Min
-
Max
-
PDO mapping
yes
Description
The parameter contains the speed value measured on the speed encoder in
speed increments.