Emerson SI-EtherCAT User Manual page 54

7.3.18 Position window
This object can be used to indicate and configure the symmetrical range of acceptable position
values relative to the target position, within which the target position will be regarded as having
been reached. The value is given in user-defined position units.
Table 7-30 Position window
0x6067 Position window
Sub-index 0
Access: RW
Default: 0xFFFFFFFF
Description: Permitted range of position values for target position to be regarded as reached.
7.3.19 Motor rated current
This object indicates the configured motor rated current. The value is given in mA.
Table 7-31 Motor rated current
0x6075 Motor rated current
Sub-index 0
Access: RW
Default: 0xFFFFFFFF
Description: Motor rated current value derived from Pr 05.007.
7.3.20 0x6080 Max motor speed
Table 7-32 Max motor speed
0x6080 Max motor speed
Sub-index 0
Access: RO
Default: 3000
This object indicates the configured maximum allowed speed for the motor in either direction.
Description: It is used to protect the motor and changing the value of this object will also change Pr 1.06.
The value is given in rotations per minute (rpm).
7.3.21 0x60F4 Following_error_actual_value
This read only object provides the actual value of the following error. The value is given in user-
defined position units.
Table 7-33 Following_error actual_value
0x60F4 Following_error actual_value
Sub-index 0
Access: RO
Default: N/A
Description: This read only object provides the actual value of the following error.
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Range: 0 to 0xFFFFFFFF
Range: 0 to 0xFFFFFFFF
Range: 0 to 0xFFFFFFFF
Range: 0 to 0xFFFFFFFF
Size: 4 bytes
Type: UDINT
Size: 4 bytes
Type: UDINT
Unsigned 32
Type: UDINT
Size: signed 32
Type: DINT
SI-EtherCAT User Guide
Unit: N/A
Unit: mA
Unit: rpm
Unit: N/A
Issue Number: 2