CANopen Technical Guide | ASDA-A2 ③ Position window Set 【 Position window:6067 h 】 to define a symmetrical range of accepted positions relatively to the target position. (unit: PUU) Set 【 Position window time:6068 h 】 to plan time of activation of target reached. (unit: millisecond) accepted position range position target position Position reached 3.1.4 Associated Object List (Please refer to the following “Details of Objects” section for more detailed descriptions) Revision Sep, 2012 15 position not reached position window position window position reached position not reached Index Name Type Attr.
6040 h Controlword UNSIGNED16 RW 6041 h Statusword UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 6062 h Position demand value [PUU] INTEGER32 RO 6063 h Position actual value [increment] INTEGER32 RO 6064 h Position actual value INTEGER32 RO 6065 h Following error window UNSIGNED32 RW 6067 h Position window UNSIGNED32 RW 6068 h Position window time UNSIGNED16 RW 607A h Target position INTEGER32 RW 6081 h Profile velocity UNSIGNED32 RW 6083 h Profile acceleration UNSIGNED32 RW 6084 h Profile deceleration UNSIGNED32 RW 6093 h Position factor UNSIGNED32 RW 60F4 h Following error actual value INTEGER32 RO 60FC h Position demand value INTEGER32 RO