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EtherCAT Mode

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ASDA-A3

Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.

13

Object 6067h: Position window

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

Unit

6067h

Position window

VAR

UNSIGNED32

RW

Yes

UNSIGNED32

100

PUU

Object function:

When the difference (absolute value) between the target position (PP mode: OD 607Ah) 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.

Accepted position range

Position window

Position window

Position not reached

Position reached

Position not reached

Position

Target position

Position window (6067h)

Position window time (6068h)

Target reached

(6041h [Bit 10])

Timer

PP mode

Target position

(607Ah)

+

Window

comparator

-

Position actual value (6064h)

13-62

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