User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 59
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4.5.1.8 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. The position
actual vale is always checked against these limits. The limit position is always relative to the machine
home position. Before being compared with the target position, they have to be corrected internally by
the home offset as follows:
This calculation needs only be performed when home offset or software position limit is changed.
The limit positions are given in microsteps (same as target position). Two limits for moving the motor in
positioning mode can be set here. Overstepping the window will lead to an emergency message and the
motor will be stopped.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607D
h
Software position limit
Array
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01
h
Min position limit
rw
Refer to CiA402-3
SIGNED32
-2147483647… [phone]
02
h
Max position limit
rw
Refer to CiA402-3
SIGNED32
-2147483647… [phone]
4.5.1.9 Object 6083
h
: Profile Acceleration
This object indicates the configured acceleration. Object 6083
h
sets the maximum acceleration to be used
in profile velocity mode.
Please choose the units for object 6083
h
with object 208E
h
, described in paragraph 0. Object 208E
h
reads 0
when internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6083
h
Profile acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
Depends on the units
4.5.1.10 Object 6084
h
: Profile Deceleration
This object indicates the configured deceleration. It sets the maximum deceleration used in profile velocity
mode.
Please choose the units for object 6083
h
with object 208E
h
, described in paragraph 0. Object 208E
h
reads 0
when internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6084
h
Profile deceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
Depends on the units
Corrected min position limit = min position limit - home offset
Corrected max position limit = max position limit - home offset