Object 6065H: Following Error Window; Object 606Ch: Velocity Actual Value (Ds402) - Kollmorgen AKD-CC Installation Manual

AKD EtherCAT | 5 Appendix
EEPROM

5.3.58 Object 6065h: Following error window

The following error window defines a range of tolerated position values symmetrically to the
position demand value. A following error might occur when a drive is blocked, unreachable
profile velocity occurs, or at wrong closed loop coefficients. If the value of the following error
window is 0, the following control is switched off.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value

5.3.59 Object 606Ch: Velocity actual value (DS402)

The object velocity actual value represents the actual speed.
Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
Float scaling
EEPROM
138 Kollmorgen | kdn.kollmorgen.com | October 2017
no
6065h
Following error window
VAR
UNSIGNED32
optional
R/W
not possible
UNSIGNED32
0
606Ch
velocity actual value, VL.FB
VAR
INTEGER32
pv
R/O
possible
velocity units (SDO is in user units and the PDO is in RPM
31 31
(-2 ) to (2 -1)
—
1000:1
no