Elmo DSP 402 manual Object 0x607D Software position limit, Index, 607Dh, Sub-index

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

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

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