YASKAWA SGD7S-xxxDA0 series Product Manual page 491

15.9 Position Control Function
Following Error Actual Value (60F4h)
This object provides the current following error.
Index
60F4h
Position Window (6067h)
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 (6068h) 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
6067h
Position Window Time (6068h)
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 (6067h), bit 10 (target reached) in sta-
tusword changes to 1.
Index
6068h
15-34
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