User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 207: Entry Description (606C
h
)
6.1.10 Object 607A
h
: Target Position
The target position is the position that the drive should move to in profile position mode using the current
settings of motion control parameters (such as velocity, acceleration, deceleration, motion profile type
etc.). The value of this object is interpreted as absolute or relative depending on the abs/rel flag in the
controlword. It is given in microsteps.
Object Description
Index Name Object Type Data Type
607A
h
Target Position Variable SIGNED32
Table 208: Object Description (607A
h
in pp Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw Refer to CiA402-3 SIGNED32 0
Table 209: Entry Description (607A
h
in pp Mode)
6.1.11 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 210: Object Description (607D
h
)
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