YASKAWA Sigma-7 SGD7S Series - Page 561

Software Position Limit contains the sub-parameters 'Min. Position Limit' and 'Max. Posi-
tion Limit'. These parameters define the absolute position limits for the position demand
value and the position actual value. Every new target position must be checked against
these limits. The limit positions are specified in position units (same as target position)
and are always relative to the machine home position.
Software limit change is not allowed in Operation enable and Quick stop state.
Movement operation from out of limits condition is allowed only to the negative direction
of the software limit. The setting of Min. Position Limit > Max. Position is not allowed.
Software limit disable in case of setting Max/Min DINT value correspondingly.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
607Dh Software Posi-
tion Limit
Array DINT[2] RW No - Yes Pos. units
Data Description
Subindex Name Value Range Default Value
0 Min. Position Limit DINT
-2
31
1 Max. Position Limit DINT
2
31
-1
n For Incremental Encoder
Software position limit values are activated once the homing is completed after
power-up.
n For Absolute Encoder
When an absolute encoder is connected to the SERVOPACK, no homing has to be
done, that the software position limits are activated.
Max. Profile Velocity is the maximum allowed speed in either direction during a profiled
move. It is given in the same units as Profile Velocity (6081h).
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
607Fh Max. Profile
Velocity
UDINT RW No 0 to Max.
Motor
Speed
(default:
Max. Motor
Speed*)
Yes Vel. units
* Max. motor speed taken from the driver during initialization.
Software Position Limit
Max. Profile Velocity
Sigma-7 Series SERVOPACKs
Object Dictionary
PROFIdrive Position Mode
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