MT.TPOSWND

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

DRV.MOTIONSTAT

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. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version

35C6h/0

M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2280 DWord Yes
Sercos® III 8 Octets
EtherNet/IP
Instance Data Size Data Type
281 8 Byte Signed Position
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

560

Yes 64 bit Yes

M_01-03-00-000

Related Topics

Motion Tasks