AKD EtherCAT | 5 Appendix
EEPROM
no
5.3.58 Object 6065h: Following error window
The following error window defines a range of tolerated position values symmetrically to the
position demand value. A following error might occur when a drive is blocked, unreachable
profile velocity occurs, or at wrong closed loop coefficients. If the value of the following error
window is 0, the following control is switched off.
Index
6065h
Name
Following error window
Object code
VAR
Data type
UNSIGNED32
Category
optional
Access
R/W
PDO mapping
not possible
Value range
UNSIGNED32
Default value
0
5.3.59 Object 606Ch: Velocity actual value (DS402)
The object velocity actual value represents the actual speed.
Index
606Ch
Name
velocity actual value, VL.FB
Object code
VAR
Data type
INTEGER32
Mode
pv
Access
R/O
PDO mapping
possible
Unit
velocity units (SDO is in user units and the PDO is in RPM
Value range
(-2
31
) to (2
31
-1)
Default value
—
Float scaling
1000:1
EEPROM
no
138
Kollmorgen | kdn.kollmorgen.com | October 2017
