CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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4: Control Loop Configuration <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
TRACKING WARNING WINDOW INDEX 0X6065<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW counts 0 - 2,147,483,647 YES RF<br />
Description<br />
This object holds the maximum position error that the amplifier will tolerate before indicating a<br />
tracking warning. If the absolute position error (<strong>de</strong>fined as the difference between the actual motor<br />
position and the position command value) exceeds this window, then the warning bit (bit 19) of the<br />
Manufacturer Status Register (in<strong>de</strong>x 0x1002, p. 60) is set.<br />
Note that this following error window generates a warning, not an amplifier fault. A separate<br />
tracking error window may be programmed which will cause an amplifier fault condition if<br />
excee<strong>de</strong>d. See the Tracking Error Window object (in<strong>de</strong>x 0x2120, p. 67) for <strong>de</strong>tails.<br />
MAXIMUM SLIPPAGE-PROFILE VELOCITY MODE INDEX 0X60F8<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW counts 0 - 2,147,483,647 YES RF<br />
Description<br />
Object 60F8 is inclu<strong>de</strong>d because the <strong>CANopen</strong> Profile for Drives and Motion Control (DSP 402)<br />
mandates it for support of profile velocity mo<strong>de</strong> operation. This object is i<strong>de</strong>ntical to Tracking<br />
Warning Window (in<strong>de</strong>x 0x6065, p. 138). A change to either object is reflected in the other.<br />
POSITION TRACKING WINDOW INDEX 0X6067<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW counts 0 - 2,147,483,647 YES RF<br />
Description<br />
Size of the amplifier's tracking window. When the absolute position error of the motor is less then<br />
or equal to the position tracking window value, the motor is consi<strong>de</strong>red to be tracking the <strong>de</strong>sired<br />
position correctly. This is true both when moving and when resting in position.<br />
The target reached bit (bit 10) is set in the Status Word (in<strong>de</strong>x 0x6041, p. 58) when the amplifier<br />
has finished running a trajectory, and the position error has been within the position tracking<br />
window for the programmed time.<br />
The Manufacturer Status Register (in<strong>de</strong>x 0x1002, p. 60) has two bits that are affected by the<br />
tracking window. Bit 25 is set any time the motor position has fallen outsi<strong>de</strong> the position tracking<br />
window (whether in motion or not), and bit 27 is set when the motor position is outsi<strong>de</strong> the position<br />
tracking window, or the amplifier is in motion.<br />
POSITION TRACKING WINDOW TIME INDEX 0X6068<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW milliseconds 0 - 5000 YES RF<br />
Description<br />
Accesses the time component of the position tracking window. The motor will only be treated as<br />
tracking properly when the position error has been within the Position Tracking Window (in<strong>de</strong>x<br />
0x6067, p. 138) for at least this long. The tracking window bit (bit 25) in the Manufacturer Status<br />
Register (in<strong>de</strong>x 0x1002, p. 60) will not be cleared until the position has been within the position<br />
tracking window for at least this long.<br />
138 Copley Controls