AKD User Guide |
20.6.11.2 Object Description
Object 607Ah: target position (DS402)
The object target position defines the target position for the drive. The target position is interpreted as a relative
distance or an absolute position, depending on Bit 6 of the control word. The type of relative movement can be fur-
ther defined by the manufacturer-specific parameter 35B9h Subindex 1.
The mechanical resolution is set by the gearing factors Object 6093h Subindex 1 and 2.
Index 607Ah
Name target position, MT.P
Object code VAR
Data type INTEGER32
Mode pp
Access R/W
PDO mapping possible
Unit user-defined
Value range -(2
31
-1) to (2
31
-1)
Default value —
Object 607Dh: Software position limit (DS402)
Software position limit contains the sub-parameters min position limit and max position limit. New target posi-
tions are checked against these limits. The limits are relative to the machine home position, which is the result of
homing (including the home offset (Object 607Ch)). As default the software position limits are switched off.
Changed values must be saved and the drive must be restarted to take enable the new the software limits.
Index 607Dh
Name Software position limit, SWLS.LIMIT0
Object code ARRAY
Data type INTEGER32
Category optional
Subindex 0
Description number of entries
Category mandatory
Access R/O
PDO mapping not possible
Value range 2
Default value 2
Subindex 1
Description min position limit, SWLS.LIMIT0
Category mandatory
Access R/W
PDO mapping possible
Value range INTEGER32
Default value 0 (switched off)
115 Kollmorgen | December 2010
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