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Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
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7.1.7 Object 606C
h
: Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208C
h
, described in section 4.2.16).
Object Description
Index Name Object Type Data Type
606C
h
Velocity Actual Value Variable SIGNED32
Table 272: Object Description (606C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 273: Entry Description (606C
h
)
7.1.8 Object 607D
h
: Software Position Limit
This object indicates the configured maximal and minimal software position limits. These parameters
define the absolute position limits for the position demand value and the position actual value. Every new
target position is checked against these limits. The limit positions are always relative to the machine home
position. Before being compared with the target position, they are corrected internally by the home offset
as follows:
Corrected_min_position_limit = min_position_limit − home_offset
Corrected_max_position_limit = max_position_limit − home_offset
Object Description
Index Name Object Type Data Type
607D
h
Software Position Limit Array SIGNED32
Table 274: Object Description (607D
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Mininmum Position Limit rw no SIGNED32 -2147483648
2 Maximum Position Limit rw no SIGNED32 2147483647
Table 275: Entry Description (607D
h
)
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