User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Velocity Actual Value yes -2147483648 2147483647 0 [rpm] R
Table 98: Entry Description (606C
h
)
6.2.8 Object 607A
h
: Target Position
The target position is the position that the drive should move to in profile position mode using the actual
settings of motion control parameters (such as velocity, acceleration, deceleration, etc.). The value of this
object is interpreted as absolute or relative depending on the abs/rel flag in the controlword.
Object Description
Index Name Object Type Data Type
607A
h
Target Position Variable SIGNED32
Table 99: Object Description (607A
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Target Position yes -2147483648 2147483647 0 RW
Table 100: 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 101: Object Description (607D
h
)
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