If a continuous operation above the 32-bit value range is permitted (continuous po-
sitioning in one direction) ps16 (CiA 0x607D [2]) max software position limit must
be set to the maximum value and ps17 to the minimum value.
The position limits are also monitored at active speed setpoint value vl20 / vl21. If
the drive reaches the software end positions, the drive decelerates at the ramp and
drives to speed 0.
6.5.1.3 Position range limits
The periodic value range for the positions is defined with ps18 (CiA 0x607B [1])
min position range limit and ps19 (CiA 0x607B [2]) max position range limit . The
positions of ps18 and ps19 in an imaginary circle are superimposed.
The value range of the position set and actual values can be limited with the posi-
tion range limits ps18 (CiA 0x607B [1]) min position range limit and ps19 (CiA
0x607B [2]) max position range limit . The internal set position st37 demand posi-
tion overflows at the maximum value and starts again at the minimum value.
The new value is calculated as follows: st37 (after limit) = st37 (before limit) - maxi-
mum value + minimum value
Accordingly, the internal set position overflows when it falls below the minimum
value.
The same applies to the actual position: If st33 position actual value exceeds the
limit of ps19 the internal value of hm09 is changed by way that st33 starts again at
the lower limit of ps18 (CiA 0x607B [1]) min position range limit . In the negative
direction accordingly.
This position limit is displayed only in st33 and st37. All other positions are not af-
fected by the limits.
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