Position window
Warn or stop when an axis’s actual position leaves its range.
less than a minute
The position window watches the actual position, so it catches an axis that is outside its range whatever the setpoint says. The limiter only keeps the setpoint in range; this detector is the check on the axis itself. It matters most for axes driven by a velocity or torque setpoint.
| What | Details |
|---|---|
| Path | actuatorControlLoopNN/positionWindowDetector |
| Watches | actuatorPositionActualFiltered, in rad or m |
| Standard robot configuration | Present but disabled, with the default levels |
Set low and high just outside the limiter’s position limits, and tooLow and tooHigh a little further out, still inside the mechanical end stops.