0x6065 - Following error window
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x6065 | 0x00 | Following error window | UINT32 | RW | Yes | Yes | UINT32 | 0xFFFFFFFF | increments |
This object indicates the configured range of tolerated position values symmetrically to the position demand value.
The following figure shows the algorithm used to detect the following error situation.
If the position actual value is out of the following error window for a Following error time out time, a following error occurs.
When the error condition is detected, the Following error bit (bit number 13) of the statusword will be set. A following error may occur when a drive is blocked, when an unreachable profile velocity occurs, or when using wrong closed-loop coefficients. If the value of the following error window is set to 0xFFFFFFFF, the following control is automatically switched off.
