YASKAWA SGD7S-1R9D Product Manual page 465

14.9 Position Control Function
Following Error Actual Value (60F4 Hex)
This object provides the current following error.
Index
60F4 hex
Position Window (6067 Hex)
This object defines the positioning completed width for the target position. When the Servo
Drive has completed outputting the reference to the target position and the time specified in
position window time (6068 hex) has passed after the distance between the target position and
the position actual value is within the value of this object, bit 10 (target reached) in statusword
changes to 1.
Index
6067 hex
Position Window Time (6068 Hex)
When the Servo Drive has completed outputting the reference to the target position and the
time specified in this object has passed after the distance between the target position and the
position actual value is within the position window (6067 hex), bit 10 (target reached) in sta-
tusword changes to 1.
Index
6068 hex
14-34
Subin-
Name
dex
Following error
0
actual value
Subin-
Name
dex
0 Position window
Subin-
Name
dex
Position window
0
time
Data PDO
Access
Type Mapping
DINT RO Yes
Data PDO
Access
Type Mapping
UDINT RW No
Data PDO
Access
Type Mapping
UINT RW No
Saving to
Value
EEPROM
− [Pos. unit]
Saving to
Value
EEPROM
0 to 1,073,741,823
(default: 30) [Pos. unit]
Saving to
Value
EEPROM
0 to 65,535
(default: 0) [ms]
No
Yes
Yes