Thresholds

This view allows for configuring the thresholds for the position, velocity and torque control functions which work in conjunction with position, velocity and torque loops.

Position thresholds

Parameter	Description
Position window	Indicates the configured symmetrical range of accepted position relative to the target position. If the actual position is within the position window for a position window time, the target position is set as reached.
Position window time	Indicates the configured time (in ms), during which the actual position within the position window is measured. If the actual position is within the position window for a position window time, the target position is set as reached.
Following error window	Indicates the configured range of tolerated position values symmetrically to the position demand value. If the actual position is out of the following error window for a following error timeout time, a following error will occur.
Following error timeout	Indicates the configured time (in ms) for a following error condition. If the actual position is out of the following error window for a following error timeout time, a following error will occur.

Velocity thresholds

Parameter	Description
Velocity window	Indicates the configured symmetrical range of accepted velocity relative to the target velocity. If the actual velocity is within the velocity window for a velocity window time, the target velocity is set as reached.
Velocity window time	Indicates the configured time (in ms), during which the actual velocity within the velocity window is measured. If the actual velocity is within the velocity window for a velocity window time, the target position is set as reached.
Velocity threshold	Indicates the configured zero velocity threshold. If the actual velocity is above the velocity threshold longer than velocity threshold time, the motor is considered to be moving.
Velocity threshold time	Indicates the configured zero velocity threshold time. If the actual velocity is above the velocity threshold longer than velocity threshold time, the motor is considered to be moving.

Torque thresholds

Parameter	Description
Torque window	Indicates the configured symmetrical range of accepted torque/force relative to the target torque/force. If the actual value of the torque/force is within the target window for a target window time, the target torque is set as reached.
Torque window time	Indicates the configured time (in ms), during which the actual torque within the torque window is measured. If the actual torque is within the torque window for a torque window time, the target torque is set as reached.