CANopen communication
Printed in the Federal Republic of Germany
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TR-Electronic GmbH 2007, All Rights Reserved
05/16/2007
TR - EMO - BA - DGB - 0013 - 00
Page 227 of 260
4.2.4.6.15 Object 0x6065: Tracking error window
Object code
VAR
Data type
UNSIGNED32
Attribute
rw
Default
2
32
-1 (tracking error monitoring switched off)
Min
0
Max
2
32
-1
PDO mapping
yes
Description
This object defines the interval for permissible actual position values around the
nominal position value (0x6062). If the actual position value is outside this interval,
a tracking error exists.
A parameter value of 2
32
-1 deactivates the tracking error monitoring.
A tracking error can occur
•
if the drive is blocked
•
if the target speed cannot be reached
•
if the control parameters are set unfavorably
•
if the acceleration is too high
4.2.4.6.16 Object 0x6066: Tracking error timeout
Object code
VAR
Data type
UNSIGNED16
Attribute
rw
Default
100
Min
0
Max
2
16
-1
PDO mapping
yes
Description
The parameter value specifies the minimum time in 1 ms steps for which a
tracking error must be present before it is displayed as such in the status word.
4.2.4.6.17 Object 0x6067: Position window
Object code
VAR
Data type
UNSIGNED32
Attribute
rw
Default
2
32
-1 (position window monitoring switched off)
Min
0
Max
2
32
-1
PDO mapping
yes
Description
This object defines a symmetrical interval around the target position (0x607A). If the
actual position value is in this interval, the target position is considered to have been
reached.
A parameter value of 2
32
-1 deactivates the position window monitoring.
