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ASDA-A3

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CANopen Mode

Object 6068h: Position window time

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

Unit

6068h

Position window time

VAR

UNSIGNED16

RW

Yes

UNSIGNED16

0

ms

12

Object function:

When the difference (absolute value) between the position command (PP mode: OD 607Ah;

IP mode: OD 60C1h) and the position actual value (OD 6064h) is within the range set in

OD 6067h (Position window), and the duration of this condition is longer than the time set in

OD 6068h (Position window time), OD 6041h [Bit 10] (Target reached) is output.

Position window (6067h)

Position window time (6068h)

PP mode

Target position

(607Ah)

IP mode

Interpolation data

record (60C1h)

Target reached (6041h [Bit 10])

Timer

Window

comparator

+

-

Object 606Bh: Velocity demand value

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

606Bh

Velocity demand value

VAR

INTEGER32

RO

Yes

INTEGER32

0.1 rpm

Position actual value

(6064h)

Object function:

The velocity demand value is the command generated by the speed trajectory generator and

filtered by the command filter of the drive. This object only works in Profile Velocity mode.

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