0x21EC - Position following error window
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x21EC | 0x00 | Position following error window | FLOAT | RW | Yes | Yes | Data type | 0.0 | encoder counts |
This object indicates the configured range of tolerated position values symmetrically to the position demand value.
If the position actual value is out of the position following error window for a position following error timeout time, a position following error occurs.
When the error condition is detected, the Following error bit (bit number 13) of the status word 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.