User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw Refer to CiA402-3 SIGNED32 0
Table 315: Entry Description (607A
h
in csp Mode)
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 316: Object Description (607D
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Mininmum Position Limit rw no SIGNED32 -2147483648
2 Maximum Position Limit rw no SIGNED32 2147483647
Table 317: Entry Description (607D
h
)
9.1.9 Object 60B0
h
: Position Offset
This object provides an offset to the target position (object 607A
h
, see section 9.1.7)). The value is given in
microsteps and will be added to the target position.
Object Description
Index Name Object Type Data Type
60B0
h
Offset Torque Variable INTEGER32
Table 318: Object Description (60B0
h
)
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