TR-Electronic MP-200 - Object 0 X607 C: Home Offset; Object 0 X607 D: Software Position Limits

Object directory
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Page 106 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
9.4.36 Object 0x607C: Home Offset
Object code
VAR
Data type
INTEGER32
Attribute
rw
Default
0
Min
-
Max
-
PDO mapping
yes
Description
The value is the difference between the zero position for the application and the
machine home position (found during homing), it is measured in position units.
9.4.37 Object 0x607D: Software Position Limits
Object code
ARRAY
Description
This parameter contains the absolute limits for position values.
The values are specified in position units relative to the machine zero point. In the
case of a new target position, a check is made to see whether this is located in the
software position range.
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
3
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
3
Default
2
31
-1
Min
-2
31
Max
+2
31
-1
PDO mapping
yes
Description
Maximum position value
3
Depending on gear and pitch the value is different