User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-68 C27750-001
3. The position window and following error window functions do not implement a window time. There is no
duration for which the actual position must be within the window, before the target reached bit is set in the
status word. Instead if the actual position is within the window, the target reached bit is set. Similarly, if the
following error is within the window, the following error bit is set and there is no duration involved.
4. The ds402 following error window, is tied to the position error limit (in radians) parameter of the drive.
The resolution of the position error limit, is limited to that of the ds402 position units. Therefore rounding
may occur when the position error limit is set, to accommodate a corresponding fixed point ds402
following error window. For example, with default settings of position units of degrees, if the user sets a
position error limit of 0.01 rads, it is actually set to a value of 0.01745 rads, corresponding to a ds402
following error of 1 degree.