Lenze E94AxHE Technology Application CiA402 Device profile - Manual (Page 126)

9400 Technology applications | CiA402 device profile
Parameter setting & configuration
Position control function
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EDS94TA11010xxxx EN 1.2 - 03/2010
3.10.3 Signal flow
[3-10] Access to the position control via CiA402 device profile
3.10.4 Following error detection
The 0x6065 object (following error window) defines a symmetrical tolerance window
around the position setpoint for the purpose of following error detection.
 If the tolerance window is set = "0", the following error detection is deactivated.
 If the tolerance window is set > "0", the following error detection is activated, i.e. a
following error will be detected if the position value is outside this tolerance window.
 For activated following error detection: If the following error is detected for a longer
time than the time in [ms] defined in object 0x6066 (following error time out),
– bit 13 ("following error") is set in object 0x6041 (statusword).
– the error response set in object 0x60FB/4 (following error reaction) is triggered.
– the "Following error" error message (with error number 0x3B40001) is entered into
the logbook.

Tip!
The
0x60F4 object (following error actual value) shows the current deviation of the
actual position value from the position setpoint.
3.10.5 In-position recognition
The 0x6067 object (position window) defines a symmetrical tolerance window around the
target position for the purpose of in-position recognition.
 If the actual position value is inside this tolerance window, the target position is
deemed to be reached and bit 10 ("target position reached") is set in the 0x6041 object
(status word).
0x60FC
Position demand value*
0x60FB
Position control parameter set
0x6063
Position actual value*
Interpolation data configuration 0x60C4
Interpolation sync definition 0x60C3
Interpolation sub mode select 0x60C0
Interpolation time period 0x60C2
Closed
loop
position
control
0x60FA
Control effort
0x6065
Following error window
0x6066
Following error time out
0x6067
Position window
0x6068
Position window time
0x60F4
Following error actual value
0x6041
Statusword / Bit 10
0x6041
Statusword / Bit 13
0x60C1/1
X1
Unit
_p
Interpolation
0x607A
Target position
0x60B0
Offset position
Unit
_p