TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 47<br />
7.2.1.6 Object 6065 h, 6865 h, and 7065 h: Following error window<br />
This object indicates the configured range of tolerated position values symmetrically to the position<br />
demand value. If the position actual value is out of the following error window, a following error<br />
occurs. A following error may occur when a drive is blocked, unreachable profile velocity occurs, or at<br />
wrong closed-loop coefficients. The value shall be given in microsteps. If the value of the following<br />
error window is 0 or FFFF FFFF h , the following control will be switched off.<br />
When the difference between motor position (object 6062 h ) and encoder position (object 6063 h or<br />
6064 h ) is greater than the value set here, the motor will be stopped and an emergency message will<br />
be sent. Setting this object to zero will turn off this feature completely. Setting this object to a too<br />
low value will lead to false alarms.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6065 h (motor 0)<br />
6865 h (motor 1)<br />
7065 h (motor 2)<br />
Following error<br />
window<br />
Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 UNSIGNED32 0… 8388607<br />
7.2.1.7 Object 6067 h, 6867 h, and 7067 h: Position window<br />
This object indicates the configured symmetrical range of accepted positions relative to the target<br />
position. If the actual value of the position encoder is within the position window, this target<br />
position is regarded as having been reached. The value is given in increments. If the value of the<br />
position window is FFFF FFFF h, the position window control is switched off.<br />
If this object is set to zero, the target reached event will be signaled when the demand position<br />
(6062 h ) has reached the target position (6064 h ).<br />
When the position window is set to a value greater than zero, the target reached event will be<br />
signaled when the actual encoder position value (6064 h ) is within the target position – position<br />
window and target position + position window.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6067 h (motor 0)<br />
6867 h (motor 1)<br />
7067 h (motor 2)<br />
Position window Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 UNSIGNED32 0… 8388607<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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