Intelligent Motion Systems MDrive DSP-402, Application Manual

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50 MDrivePlus CANopen R020507
Object 6065
h
— Following Error Window
This object shall indicate the conFigure d range of tolerated position values symmetrically to the position
demand value. If the position actual value is out of the following error window, a following error occurs. A
following error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed-
loop coefficients. The value shall be given in user defined position units. If the value of the following error
window is FFFF FFFFh, the following control shall be switched off.
Object Description
Index
6065
h
Name
Following Error Window
Object Code
VAR
Data Type
Unsigned 32
Entry Description
Access
r
PDO Mapping
n/a
Range
Unsigned 32
Default
n/a
Object 6066
h
— Following Error Timeout
This object shall indicate the conFigure d time for a following error condition, after that the bit 13 of the
statusword shall be set to 1. The reaction of the drive when a following error occurs is manufacturer-specific.
The value shall be given in milliseconds.
Object Description
Index
6066
h
Name
Following Error Timeout
Object Code
VAR
Data Type
Unsigned 32
Entry Description
Access
r
PDO Mapping
n/a
Range
Unsigned 32
Default
n/a
Object 6068
h
— Position Window Time
This object shall indicate the conFigure d time, during which the actual position within the position window
is measured. The value shall be given in milliseconds.
Object Description
Index
6068
h
Name
Position Window Time
Object Code
VAR
Data Type
Unsigned 16
Entry Description
Access
r
PDO Mapping
n/a
Range
Unsigned 16
Default
Mfg-Specific