Position Window - Control Techniques Nidec SI-EtherCAT User Manual

7.3.20 0x6065 Following error window
This object can be used to indicate and configure the range of position values, symmetrical to the
position demand value, outside of which a following error occurs. The value is given in user-defined
position units.
Table 7-39 Following error window
0x6065 Following error window
Access: RW
31
Default:
2 -1
PDO Mappable: No
Motion Profiles: CSP, IP, PP
Description: Permitted range of position values before a following error occurs.
7.3.21

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 7-40 0x6067 Position window
0x6067 Position window
Access: RW
31
Default:
2 -1
PDO Mappable: RxPDO
Motion Profiles: CSP, IP, PP
Description: Permitted range of position values for target position to be regarded as reached.
Table 7-41 0x6068 Position Window Time
0x6068 Position window Time
Access: RW
Default: 0
PDO Mappable: RxPDO
Motion Profiles: PP
This object shall indicate the configured time, during which the actual position within the
Description:
position window is measured.
7.3.22 0x6072 Max Torque
Table 7-42 0x6072 Max Torque
0x6072 Max Torque
Access: RW
Default: N/A
PDO Mappable: No
Motion Profiles: ALL
Description: Maximum torque
SI-EtherCAT User Guide
31
Range: 0 to 2 -1
31
Range: 0 to 2 -1
Range: 0 to 65535
Range: -32768 to 32767
Size: 4 bytes
Type: Unsigned integer / UDINT
Update rate: Background
Size: 4 bytes
Type: Unsigned integer / UDINT
Update rate: Background
Size: 2 bytes
Type: Unsigned integer / UINT
Update rate: Read in background
Size: 4 bytes
Type: Unsigned integer
Update rate: Background, sync with Pr 04.120 and
Pr 04.121
Unit: N/A
Unit: N/A
Unit: milliseconds
Unit: TBA
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