0x6067 - Position window
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x6067 | 0x00 | Position window | UINT32 | RW | Yes | Yes | UINT32 | 100 | increments |
This object indicates the configured symmetrical range of accepted positions relative to the target position.
The following figure shows the algorithm used to detect the target position situation.
If the actual value of the position encoder is within the position window for Position window time, the target position is regarded as having been reached. When that situation is detected, the Target reached bit (bit number 10) of the statusword will be set.
The target position is handled in the same manner as in the profiler concerning limiting functions and transformation into internal machine units before it is used with this function. If the value of the position window is set to 0xFFFFFFFF, the position window control is switched off.
