CL3-E CANopen/USB Technical Manual

607Dh Software Position Limit

Function

Limit values for the target position.

Object description


Index 607Dh
Object Name Software Position Limit
Object Code ARRAY
Data type INTEGER32
Saveable yes, category: application
Firmware Version FIR-v1426
Change History  

Value description


Sub-index 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 02h


Sub-index 01h
Name Min Position Limit
Data type INTEGER32
Access Read/write
PDO Mapping RX - PDO
Admissible Values  
Specified Value 80000000h


Sub-index 02h
Name Max Position Limit
Data type INTEGER32
Access Read/write
PDO Mapping RX - PDO
Admissible Values  
Specified Value 7FFFFFFFh

Description

The target position must lie within the limits set here. Before the check, the home offset (607Ch) is deducted in each case:

Corrected min position limit = min position limit - home offset

Corrected max position limit = max position limit - home offset.

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