Appendix
Index table
10
144
KHB 13.0003-EN 2.0
Characteristics
Possible settings
Name
Index
Description
Selection
Lenze
6061
h
0 modes_of_
operation_display
VAR
INT8
RO
MAP
Operating mode display.
If operation via CANopen
is not possible, an internal
operating mode is
displayed.
0
Reserved
1
Position control with
positioning
3
Speed control with
setpoint ramp
4
Torque control with
setpoint ramp
6
Homing
6063
h
0 position_actual_
value
-2
31
{1 inc}
2
31
-1
VAR
INT32
RO
MAP
Reading the actual
position.
The phase-angle encoder
sends the actual position
value to the position
controller.
The unit can be set via the
factor group.
6064
h
0 position_actual_
value
-2
31
{position units}
2
31
-1
VAR
INT32
RO
MAP
Reading the actual
position.
The phase-angle encoder
sends the actual position
value to the position
controller.
6065
h
0 following_error_
window
9102
00000000
h
{1 inc}
7FFFFFFF
VAR
UINT3
2
RW
MAP
Symmetrical range around
the position setpoint.
If the actual position value
is not within this range, a
following error occurs and
bit 13 is set in the status
word.
Causes for the following
error:
z
the drive is inhibited
z
the positioning speed is
too high
z
the acceleration values
are too high
z
the value of the
following_error_windo
w index is too low
z
the parameters of the
position controller are
not correct
6067
h
0 position_window
1820
-2
31
{1 inc}
2
31
-1
VAR
UINT3
2
RW
MAP
Symmetrical range around
the target position. The
target position is reached,
when the actual position
value is for a certain time
in this range.
