User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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9.1.8 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 178: 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 179: Entry Description (607D
h
)
9.1.9 Object 607F
h
: Max Profile Velocity
Max. absolute velocity for velocity and positioning mode.
Object Description
Index Name Object Type Data Type
607F
h
Max Profile Velocity Variable UNSIGNED32
Table 180: Object Description (607F
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 MaxVelocity no 0 200000 4000 [rpm] RW
Table 181: Entry Description (607F
h
)
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