Danaher Motion 07/06 Objects
M-S2-021-11 Initial Release 69
6. 40 SDO 6065H: FOLLOWING ERROR WINDOW
The following error window defines a range of tolerated position values symmetrically to the position
demand value. A following error might occur when a drive is blocked, unreachable profile velocity occurs,
or at wrong closed loop coefficients. If the value of the following error window is 0, the following control is
switched off.
Index 6065
h
Name
Following error window
Object code
VAR
Data type
UNSIGNED32
Category
optional
Access
rw
PDO mapping
possible
Value range
UNSIGNED32
Default value
ΒΌ of a motor revolution
6. 41 SDO 6067H: POSITION WINDOW (DS402)
The position window defines a symmetrical range of accepted positions relative to the target position. If the
actual value of the position encoder is within the position window, the target position is considered reached.
The status word bit Target reached goes to 1.
Index 6067
h
Name
Position window
Object code
VAR
Data type
UNSIGNED32
Category
optional
Access
rw
PDO mapping
possible
Value range
UNSIGNED32
Default value
4000 position units
6. 42 SDO 6068H: POSITION WINDOW TIME (DS402)
When the actual position is within the position window during the defined position window time which is
given in multiples of milliseconds, the corresponding bit 10 target reached in the statusword is set to one.
Index 6068
h
Name
Position window time
Object code
VAR
Data type
UNSIGNED16
Category
optional
Access
rw
PDO mapping
possible
Value range
UNSIGNED16
Default value
no
