0X60F4/0 Following Error Actual Value - BONFIGLIOLI Vectron Active Cube User Manual

12.5.41 0x60F4/0 Following error actual value

Index Sub-index
0x60F4 0
Object works in:
• Motion Control:
All modes
o
In the application manual "Positioning", the term "Contouring error" is used instead of
the CANopen
Object 0x60F4 shows the
ed in parameter Actual Contouring error 1109.
The allowed following error is defined by object
The dimension of the user units is defined by
constant
The Contouring error can be monitored internally to trigger a device fault if a set
threshold was reached. Please refer to the Application manual "Positioning" for details
concerning the parameters
Threshold
Example:
Read Request
Reply
CB: Control byte
04/13
Meaning
Following error actual value
®
term "Following error".
following error actual value
.
Fault reaction
1106 and
Contouring error Time
COB ID CB
601 40
581 43
SI: Sub Index All values in hexadecimal without leading 0x
CM-CAN ACU
Data type
Integer32
Object doesn't work in:
Non motion Control (conf. ≠ x40)
•
. The value is the same like stat-
Following error window
0x6065
0x6091
1120,
Warning threshold
1119.
Index SI Data
C1 60 00 00 00 00 00
C1 60 00 05 00 00 00
Access Map Def.-Val
ro Tx
.
Gear ratio
and 0x6092
1105,
Error
Feed
151