TR-Electronic MP-200 - Object 0 X607 A: Target Position; Object 0 X607 B: Position Range Limits

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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 105 of 153
9.4.34 Object 0x607A: Target Position
Object code
VAR
Data type
INTEGER32
Attribute
rw
Default
0
Min
-2
31
Max
2
31
-1
PDO mapping
yes
Description
This object contains the target position in position units, see chapter
"5.8 Units" page 56. Depending on the "absolute/relative" bit of the STW, the
target position is interpreted as absolute or relative.
9.4.35 Object 0x607B: Position Range Limits
Object code
ARRAY
Description
This parameter specifies the value range for the position value. When a position
limit is reached or exceeded, the position value automatically jumps to the
opposite end of the range.
This behavior can be prevented with parameter 0x607D.
Subindex 0: Number of entries
Data type
UNSIGNED8
Attribute
ro
Default
2
Min
-
Max
-
PDO mapping
-
Description
Specifies the number of following entries
Subindex 1: Lower position limit
Data type
INTEGER32
Attribute
rw
2
Default
-2
31
Min
-2
31
Max
+2
31
-1
PDO mapping
yes
Description
Minimum position value
Subindex 2: Upper position limit
Data type
INTEGER32
Attribute
rw
2
Default
2
31
Min
-2
31
Max
+2
31
-1
PDO mapping
yes
Description
Maximum position value
2
Depending on gear and pitch the value is different