7 CiA402 device profile
7.6 Parameters for actuation of the position control
207
Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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0x6067 | 0x6867 - Position window
0x6068 | 0x6868 - Position window time
0x60F4 | 0x68F4 - Following error actual value
0x60FA | 0x68FA - Control effort
0x60FC | 0x68FC - Position demand internal value
Symmetrical tolerance window around the target position for in-position recognition
• If the actual position is within this tolerance window for a longer period than for the time defined in [ms] in
object 0x6068
(or 0x6868 for axis B) , the target position is considered as reached, and bit 10 ("Target position
reached") is set in the Statusword (0x6041
or 0x6841 for axis B).
Setting range (min. value | unit | max. value) Lenze setting
0 [Pos unit] 4294967295 1000 [Pos unit]
Write access CINH OSC P RX TX UNSIGNED_32
Time monitoring for the status message "target position reached"
0 = position in the target window is evaluated without time delay.
Setting range (min. value | unit | max. value) Lenze setting
0ms00ms
Write access CINH OSC P RX TX UNSIGNED_16
Current following error
Display area (min. value | unit | max. value) Initialisation
-2147483648 [Pos unit] 2147483647
Write access CINH OSC P RX TX INTEGER_32
Target position for the position control
Display area (min. value | unit | max. value) Initialisation
-480000 [n unit] 480000
Write access CINH OSC P RX TX
Scaling: 480000/2
31
INTEGER_32
Interpolated set position for the position control in the internal unit
Display area (min. value | unit | max. value) Initialisation
-2147483648 Incr. 2147483647 0 incr.
Write access CINH OSC P RX TX INTEGER_32
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