-186-
7 Control Mode
7.3.3 Related Function Settings
1 Position deviation monitoring function
☆ Related parameters
Index
6065h
Name
Following error window
Setting
Condition
& Effective
Time
During
running &
Immediately
Data
Structure
VAR
Data
Type
UINT 32
Access
RW
Mapping
RPDO
Related
Mode
PP HM CSP
Value
Range
0 to (2
32
-1)
(position
unit)
Default 3145728
Defines the threshold of excessive position deviation (position unit).
If 6065h is set to a too large value, the warning threshold of excessive position deviation will be 2147483647 encoder
units.
Index
6066h
Name
Following error time out
Setting
Condition
& Effective
Time
During
running &
Immediately
Data
Structure
VAR
Data
Type
UINT
16
Access
RW
Mapping
RPDO
Related
Mode
PP HM CSP
Value
Range
0 to
65535
(ms)
Default
0
Defines the threshold of excessive position deviation (position unit).
If the position deviation exceeds the threshold of excessive position deviation and such status persists after the
time defined by 6066h elapses, EB00.0 (Excessive position deviation) will occur.
2 Position reference polarity
You can change the position reference direction through setting the position reference polarity.
☆ Related parameters
Index
607Eh
Name
Polarity
Setting
Condition
& Effective
Time
During
running &
Immediately
Data
Structure
VAR
Data
Type
Uint8
Access
RW
Mapping
RPDO
Related
Mode
All
Value
Range
0 to
255
Default
0
Defines the polarity of the position, speed, and torque reference.
Bit
Description
7
P
osition polarity
0: Multiply by 1
1: Multiply by -1
CSP: Invert the position reference (607Ah + 60B0h)
7.3.4 Recommended Configuration
The basic configuration for the CSP mode is described in the following table.
RPDO
TPDO
Description
6040: Control word
6041: Status word
Mandatory
607A: Target position
6064: Position actual value
Mandatory
6060: Modes of operation
6061: Modes of operation display
Optional