User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 34
www.trinamic.com
4.2.1.6 Object 6065
h
: Following Error Window
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 following error window, a following error occurs.
A following error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong
closed-loop coefficients. The value shall is in microsteps. If the value of the following error window is 0
or FFFF FFFF
h
, the following control will be switched off.
When the difference between motor position (object 6062
h
) and encoder position (object 6063
h
or 6064
h
)
is greater than the value set here, the motor will be stopped and an emergency message will be sent.
Setting this object to zero will turn off this feature completely.
Setting this object to a too low value will lead to false alarms!
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6065
h
Following error
window
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
0… 8388607
4.2.1.7 Object 6067
h
: Position Window
This object indicates the configured symmetrical range of accepted positions relative to the target position.
If the actual value of the position encoder is within the position window, this target position is regarded
as having been reached. The value is given in increments. If the value of the position window is FFFF
FFFF
h,
the position window control is switched off.
If this object is set to zero, the target reached event will be signaled when the demand position (6062
h
)
has reached the target position (607A
h
).
When the position window is set to a value greater than zero, the target reached event will be signaled
when the actual encoder position value (6064
h
) is within the target position – position window and target
position + position window.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6067
h
Position window
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
0… 8388607
4.2.1.8 Object 6068
h
: Position Window Time
This object indicates the configured time, during which the actual position within the position window is
measured. The value is given in ms. If this object is set to a value greater than zero and also the position
window (6067
h
) is set to a value greater than zero the target reached event will not be signaled until the
actual position (6064
h
) is at least as many milliseconds within the position window as defined by this
object.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6068
h
Position window time
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED16
0