Description
Within DRV.MOTIONSTAT, MT.TPOSWND is used to indicate that the target position of a motion task has been reached. DRV.MOTIONSTAT displays a "Target Position Reached" bit as soon as the following statement becomes true:
abs(actual_position – target_position) < MT.TPOSWND
-
-
Digital output modes 3 and 17 (MT in Position) are almost identical. Mode 17 will trigger as soon as the load is in the position window, whereas Mode 3 will wait until the trajectory is complete before monitoring the window. Mode 17 may signal faster because of this, and can also potentially bounce out of the window temporarily.
General Information
|
Type |
R/W Parameter |
|
Units |
Depends on UNIT.PROTARY or UNIT.PLINEAR Rotary: counts, rad, deg, Custom Units, 16-bit counts Linear: counts, mm, µm, Custom Units, 16-bit counts |
|
Range |
N/A |
|
Default Value |
0.5 rev |
|
Data Type |
Float |
|
See Also |
|
|
Start Version |
M_01-00-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | No |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | No |
| AKD SynqNet | No |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
| Index/Subindex | Object Start Version |
|---|---|
|
35C6h/0 |
M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2280 | DWord | Yes |
| Sercos® III | 8 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 281 | 8 Byte Signed | Position |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
560 |
Yes | 64 bit | Yes |
M_01-03-00-000 |
Related Topics
