5. A
d
ju
s
t
men
t of p
a
r
ame
t
e
r
s/
Lo
ad
and
sa
v
e
se
t of p
a
r
ame
t
e
r
s
5
−4
8
Fes
to
P
.
B
E
−S
EC
−
AC
−
C
O−
E N
en
0802
a
5.6
Position Control Function
5.6.1
S
urv
e
y
Thi
s
c
h
a
pt
e
r
desc
ri
bes
a
ll p
a
r
ame
t
e
r
s
whi
c
h
a
r
e
r
eq
uir
ed
for
th
e
po
s
itio
n
c
o
n
troll
e
r. Th
e
des
ir
ed
po
s
itio
n
v
a
lu
e
(
posi
tion_demand_value
) of th
e
tr
a
j
ec
tory
gene
r
a
tor i
s
th
e
i
n
put
of th
e
po
s
itio
n
c
o
n
troll
e
r.
Bes
i
des
thi
s
th
e
ac
tu
a
l po
s
itio
n
v
a
lu
e
(
position_actual_value
) i
s
s
uppli
ed
b
y th
e
ang
l
e
en
c
o
de
r (r
es
olv
e
r, i
nc
r
emen
t
a
l
enc
o
de
r,
e
t
c
.). Th
e
be
h
a
viour of
th
e
po
s
itio
n
c
o
n
troll
e
r
can
be
i
n
flu
enced
b
y p
a
r
ame
t
e
r
s
. It i
s
po
ss
i
b
l
e
to li
m
it th
e
output
q
u
an
tity (
control_effort
) i
n
or
de
r
to
kee
p th
e
po
s
itio
n
c
o
n
trol
s
y
s
t
em
s
t
ab
l
e
. Th
e
output
q
u
an
tity i
s
s
uppli
ed
to th
e
s
p
eed
c
o
n
troll
e
r
as
des
ir
ed
s
p
eed
v
a
lu
e
. I
n
th
e
Factor Group
a
ll i
n
put
and
output
q
u
an
titi
es
a
r
e
c
o
n
v
e
rt
ed
fro
m
th
e
a
ppli
ca
tio
n−s
p
ec
ifi
c
u
n
it
s
to th
e
r
es
p
ec
t
iv
e
i
n
t
e
r
na
l u
n
it
s
of th
e
c
o
n
troll
e
r.
Th
e
followi
ng
s
u
b
fu
nc
tio
ns
a
r
e
de
fi
ned
i
n
thi
s
c
h
a
pt
e
r
:
1. Tr
a
ili
ng
e
rror (
F
ollowi
ng
Error)
Th
e
de
vi
a
tio
n
of th
e
ac
tu
a
l po
s
itio
n
v
a
lu
e
(
posi
tion_actual_value
) fro
m
th
e
des
ir
ed
po
s
itio
n
v
a
lu
e
(
posi
tion_demand_value
) i
s
named
tr
a
ili
ng
e
rror. If for
a
ce
rt
a
i
n
p
e
rio
d
of ti
me
thi
s
tr
a
ili
ng
e
rror i
s
b
i
gge
r th
an
s
p
ec
ifi
ed
i
n
th
e
tr
a
ili
ng
e
rror wi
nd
ow (
following_error_window
)
b
it 13 (
fol
lowing_error
) of th
e
o
b
j
ec
t
statusword
will
be
se
t. Th
e
p
e
r
m
i
ss
i
b
l
e
ti
me
can
be
de
fi
ned
vi
a
th
e
o
b
j
ec
t
follow
ing_error_time_out
.
Summary of Contents for SEC-AC-305-CO
Page 2: ......
Page 4: ...Contents and general instructions II Festo P BE SEC AC CO EN en 0802a...
Page 16: ...Contents and general instructions XIV Festo P BE SEC AC CO EN en 0802a...
Page 17: ...Introduction 1 1 Festo P BE SEC AC CO EN en 0802a Chapter 1...
Page 20: ...1 Introduction 1 4 Festo P BE SEC AC CO EN en 0802a...
Page 21: ...Cabling and pin assignment 2 1 Festo P BE SEC AC CO EN en 0802a Chapter 2...
Page 31: ...Activation of CANopen 3 1 Festo P BE SEC AC CO EN en 0802a Chapter 3...
Page 38: ...3 Activation of CANopen 3 8 Festo P BE SEC AC CO EN en 0802a...
Page 39: ...Access methods SDO access 4 1 Festo P BE SEC AC CO EN en 0802a Chapter 4...
Page 155: ...Device Control State diagram State machine 6 1 Festo P BE SEC AC CO EN en 0802a Chapter 6...
Page 221: ...7 Operating modes Adjustment of the Operating Mode 7 43 Festo P BE SEC AC CO EN en 0802a...
Page 247: ...Technical appendix A 1 Festo P BE SEC AC CO EN en 0802a Appendix A...
Page 250: ...A Technical appendix A 4 Festo P BE SEC AC CO EN en 0802a...
Page 251: ...Index B 1 Festo P BE SEC AC CO EN en 0802a Appendix C...
Page 252: ...B Index B 2 Festo P BE SEC AC CO EN en 0802a C 1 Index B 3...
Page 272: ...B Index B 22 Festo P BE SEC AC CO EN en 0802a...
