606Eh, 686Eh Velocity window time - Axis #

This object is used to define the amount of time the actual velocity (606Ch, 686Ch Velocity actual value - Axis #) must be within the velocity window (606Dh, 686Dh Velocity window - Axis #) to set the ‘Target Reached’ bit of the statusword (see 6041h, 6841h Statusword - 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 will start counting as soon as 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 time - Axis 1	606Eh	0h	Unsigned16	-	-	Read/Write	Yes

Axis 2

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