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5.2.1 CiA 402
Objects - Target window reached
Parameters Index.Subindex Name Data type
Px. CiA402: factor group is effective.
468 0x6068.00 Damping time target reached UINT16
469 0x6067.00 Monitoring window target position UINT32
4610 0x606D.00 Monitoring window target speed UINT16
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
468 0x2166.09 Damping time target reached FLOAT32
469 0x2166.0A Monitoring window target position FLOAT32
4610 0x2166.0B Monitoring window target speed FLOAT32
4611 0x2166.0C Monitoring window target torque FLOAT32
Tab. 290 Objects
5.3 Following error
Following error FEx
The difference between the setpoint value and actual value is monitored by the following error monit-
or. The position and speed are monitored simultaneously with a comparator during this process. The
comparator is defined by a monitoring window and damping time. Following error monitoring is active
as long as the target has not been reached (target reached = FALSE). Target area monitoring is then
active
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5.4 Target area monitoring
Parameters and diagnostic messages
ID Px. Parameters Description
Specifies the damping time for the position following error. The
signal is set if the position difference for the specified duration
is outside the monitoring window. If the position difference is
within the monitoring window, the required damping time re-
starts when the difference is outside the window again.
Access read/write
Update effective immediately
462 Damping time posi-
tion: following error
Unit s
Specifies the monitoring window for the position following error.
The monitoring window is set symmetrically to the setpoint
value pattern (window width = 2x parameter). 463 Monitoring window
position: following
error
Access read/write
Motion monitoring
313 Festo — CMMT-ST-SW — 2019-02