User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
51 / 86
Object Description
Index Name Object Type Data Type
607A
h
Target Position Variable SIGNED32
Table 139: Object Description (607A
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Target Position no -2147483648 2147483647 0 RW
Table 140: Entry Description (607A
h
)
6.2.9 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 141: Object Description (607D
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 Min Position Limit no -2147483648 2147483647 -2147483648 RW
2 Max Position Limit no -2147483648 2147483647 2147483647 RW
Table 142: Entry Description (607D
h
)
6.2.10 Object 6081
h
: Profile Velocity (pp)
This object indicates the configured velocity normally attained at the end of the acceleration ramp during
a profiled motion and is valid for both directions of motion. The profile velocity is the maximum velocity
used when driving to a new position.
©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Read entire documentation.