Kollmorgen S300

4.11.4 Object description
4.11.4.1 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 further defined by the manufacturer-specific parameter 35B9
h
Subindex 1.
The mechanical resolution is set by the gearing factors Object 6093
h
Subindex 1 and 2.
Index 607A
h
Name
target position
Object code
VAR
Data type
INTEGER32
Mode
pp
Access
rw
PDO mapping
possible
Unit
user-defined
Value range
-(2
31
-1) ... (2
31
-1)
Default value
—
EEPROM
no
4.11.4.2 Object 607Dh: Software position limit (DS402)
Software position limit contains the sub-parameters min position limit and max position limit. New
effective target positions are checked against these limits. The limits are relative to the machine
home position, which is build through homing including the home offset (Object 607C).
As default the software position limits are switched off. If the values are changed from these default
values a special configuration is made in the drive. Therefore the new values have to be saved and
the drive has to be restarted to take the software limits into action.
Index 607D
h
Name
Software position limit
Object code
ARRAY
Data type
INTEGER32
Category
optional
Subindex 0
Description
number of entries
Category
mandatory
Access
ro
PDO mapping
not possible
Value range
2
Default value
2
Subindex 1
Description
min position limit
Category
mandatory
Access
rw
PDO mapping
possible
Value range
INTEGER32
Default value
0 (switched off)
Subindex 2
Description
max position limit
Category
mandatory
Access
rw
PDO mapping
possible
Value range
INTEGER32
Default value
0 (switched off)
CANopen for S300/S700 85
Kollmorgen 11/2018 CANopen Drive Profile