Elmomc CANopen DSP 402 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 80)

Object 0x607D: Software position limit

This object contains the sub-parameters min position limit and max position limit, which

define the absolute position limits for the position demand value and the position actual

value. Every new target position must be checked against these limits. The position limits

are specified in position units (same as target position) and are always relative to the

machine home position.

Before being compared with the target position, the position limit must be corrected

internally by the home offset, as follows:

 Internal correct minimum position limit = min position limit - home offset

 Internal corrected maximum position limit = max position limit - home offset

This calculation is performed when home offset or software position limit is changed.

 Object description:

Index 607Dh

Name Software position limit

Object code ARRAY

Data type INTEGER32

Category Mandatory

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Min position limit

Entry category Mandatory

Access Read/write

PDO mapping No

Value range INTEGER32

Default value No

CANopen DSP 402 Implementation Guide

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Elmomc CANopen DSP 402 Implementation Guide Manuel d'utilisateur Page 80