ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 80)

Object 0x607D: Software position limit
This object contains the sub-parameters min position limit and max position limit, which
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 position limits
are specified in position units (same as target position) and are always relative to the
machine home position.
Before being compared with the target position, the position limit must be corrected
internally by the home offset, as follows:
Internal correct minimum position limit = min position limit - home offset
Internal corrected maximum position limit = max position limit - home offset
This calculation is performed when home offset or software position limit is changed.
Object description:
Index 607Dh
Name Software position limit
Object code ARRAY
Data type INTEGER32
Category Mandatory
Entry description:
Sub-index 0
Description Number of entries
Entry category Mandatory
Access Read only
PDO mapping No
Value range 2
Default value 2
Sub-index 1
Description Min position limit
Entry category Mandatory
Access Read/write
PDO mapping No
Value range INTEGER32
Default value No
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
74