YASKAWA Sigma-7 SGD7S Series - Page 568

The position window defines a symmetrical range of accepted positions relatively to the
target position. If the actual value of the position encoder is within the position window,
this target position is regarded as reached.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
6067h Position
Window
UDINT RW No
0 to (2
31
-1)
(default: 32)
Yes Pos. units
When the actual position is within the position window during the defined position window
time which is given in multiples of milliseconds, the corresponding bit 10 target reached in
the Statusword will be set to one.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
6068h Position
Window Time
UINT RW No UINT
(default: 0)
Yes ms
This object provides the actual value of the following error.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
60F4h Following Error
Actual Value
DINT RO TPZD - - Pos. units
This output of the trajectory generator in profile position mode is an internal value using
increments as unit what is expressed with a position demand value in increments. To
save calculation time for some applications, this object is additionally introduced to the
Position Demand Value (6062h).
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
60FCh Position
Demand
Internal Value
DINT RO TPZD - - Incre-
ments
Position Window
Position Window Time
Following Error Actual
Value
Position Demand Internal
Value
Sigma-7 Series SERVOPACKs
Object Dictionary
Position Control Function
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