606Dh, 686Dh Velocity window - Axis #

This object is used to define the range the actual velocity (606Ch, 686Ch Velocity actual value - Axis #) must be within from the target velocity (60FFh, 68FFh Target velocity - Axis #) to set the ‘Target Reached’ bit of the statusword (see 6041h, 6841h Statusword - Axis #).

The bit will be set once the velocity has been within the window for a configured amount of time. The time is set with object 606Eh, 686Eh Velocity window time - Axis #.

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• This only applies for profile velocity mode.

Example:

Velocity Window (606Dh) = 50 rpm

Velocity Window Time (606Eh) = 10 ms

Target Velocity (60FFh, 68FFh Target velocity - Axis #) = 160 rpm

The target reached count starts counting when the actual velocity is within the velocity window (160-50 = 110 rpm to 160 + 50 = 210 rpm). Once the counter reaches the velocity window time value, the target reaches bit is set.

Time (ms)	Actual Velocity (606Ch)	Target Reached Bit (Statusword 6041h)	Target Reached Count (internal)
0	0	0	0
1	20	0	0
2	40	0	0
3	60	0	0
4	80	0	0
5	100	0	0
6	120	0	1
7	140	0	2
8	160	0	3
9	160	0	4
10	160	0	5
11	160	0	6
12	160	0	7
13	160	0	8
14	160	0	9
15	160	1	10
16	160	1	10
17	160	1	10

Axis 1

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable
Velocity window - Axis 1	606Dh	0h	Unsigned16	-	Velocity	Read/Write	Yes

Axis 2

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable
Velocity window - Axis 2	686Dh	0h	Unsigned16	-	Velocity	Read/Write	Yes