0x607D

0x607D:0 Software position limit

This object indicates the configured maximal and minimal software position limits. These parameters define the absolute position limits for the position demand value and the position actual value. Every new target position is checked against these limits. The limit positions are always relative to the machine home position. Before being compared with the target position, they are corrected internally by the home offset as follows:

corrected min position limit = min position limit – home offset

corrected max position limit = max position limit – home offset

This calculation is only performed when home offset or software position limit is changed. The limit positions are given in increments.

Object Type OBJECT_TYPE_ARRAY
Index 0x607D
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x607D:1 Min position limit

Object Type OBJECT_TYPE_ARRAY
Index 0x607D
SubIndex 1
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping Transmit or Receive PDO

0x607D:2 Max position limit

Object Type OBJECT_TYPE_ARRAY
Index 0x607D
SubIndex 2
Type DINT
Bit Size 32
Deftype DEFTYPE_INTEGER32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping Transmit or Receive PDO