User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 217: Entry Description (6064
h
)
6.1.6 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 be given in microsteps.
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.
Note
Setting this object to a too low value will lead to false alarms.
Object Description
Index Name Object Type Data Type
6065
h
Following Error Window Variable UNSIGNED32
Table 218: Object Description (6065
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 2147483647 0
Table 219: Entry Description (6065
h
)
6.1.7 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 FFFFFFFF
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 (6064
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 (target_position − position_window) and (target_position + position_window).
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