User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Object Description
Index Name Object Type Data Type
606C
h
Velocity Actual Value Variable SIGNED32
Table 261: Object Description (606C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 262: Entry Description (606C
h
)
7.1.8 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 263: 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 264: Entry Description (607D
h
)
7.1.9 Object 6083
h
: Profile Acceleration
This object indicates the configured acceleration. Object 6083
h
sets the maximum acceleration to be used
in profile position and profile velocity mode.
The units for object 6083
h
can be choosen with object 208E
h
, described in section 4.2.17.
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