SMC Networks LECSN-T Series - Page 639

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18．EtherCAT COMMUNICATION
(2) Position range limit (607Bh)
Index
Sub
Name
Data Type
Access
PDO Mapping
607Bh
0
Position range limit
UNSIGNED8
ro
Impossible
1
Min position range limit
INTEGER32
rw
Possible
2
Max position range limit
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
607Bh
0
2
00h to 02h
1
Refer to the text.
pos units
Impossible
2
No value can be written because Position range limit (607Bh) is set automatically with the control mode
and [Pr. PT01]. Writing any value causes SDO Abort Code (0609 0030h Value range of parameter
exceeded).
This object is available with drivers.
Control mode
[Pr. PT01] setting
Range
Cyclic synchronous mode
80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Profile mode
_ 0 _ _ (mm)
80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 1 _ _ (inch)
80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 2 _ _ (degree)
00000000h to 00057E3Fh (0 to 359999)
_ 3 _ _ (pulse)
80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Point table method
_ 0 _ _ (mm)
80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 1 _ _ (inch)
80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 3 _ _ (pulse)
80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Indexer method
0 to set value in [Pr. PT28] -1
(3) Software position limit (607Dh)
Index
Sub
Name
Data Type
Access
PDO Mapping
607Dh
0
Software position limit
UNSIGNED8
ro
Impossible
1
Min position limit
INTEGER32
rw
Possible
2
Max position limit
Index
Sub
Default
Range
Units
EEP-ROM
Parameter
607Dh
0
2
02h to 02h
Impossible
1
0
80000000h to 7FFFFFFFh
pos units
Possible
PT17/PT18
2
PT15/PT16
Set the range for limiting the command position. Target position (607Ah) is limited within the range
between Min position limit (607Dh: 1) and Max position limit (607Dh: 2). When the set value of Min
position limit (607Dh: 1) is equal to or greater than the set value of Max position limit (607Dh: 2), the
function of Software position limit (607Dh) is disabled. In the indexer method, this function is disabled.