Elmo DSP 402 manual 11.2Objects, Object 0x607A Target position, Index, 607Ah, 607Bh

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

72

11.2Objects

Object 0x607A: Target position

The target position is the position to which the drive should move in position profile mode, using the current settings of motion control parameters such as velocity, acceleration, deceleration and motion profile type. The target position is given in user- defined position units. It is converted to position increments using the position factor. The target position is interpreted as absolute or relative, depending on the Abs/Rel flag in the controlword.

Object description:

	Index	607Ah
	Name	Profile target position
	Object code	VAR
	Data type	INTEGER32
	Category	Mandatory
Entry description:
	Access	Read/write
	PDO mapping	No
	Value range	INTEGER32
	Default value	No

Object 0x607B: Position range limit

This object contains two sub-parameters that limit the numerical range of the input value: min position range limit and max position range limit. On reaching or exceeding these limits, the input value automatically wraps to the other end of the range. Wrap-around of the input value can be prevented by setting software position limits.

Notes:

The high position range limit and the low position range limit must be even. This object cannot be set while in OPERATION ENABLE or QUICK STOP state.

Object description:

Index	607Bh
Name	Position range limit
Object code	ARRAY
Data type	INTEGER32
Category	Mandatory