NP5 CANopen Online Manual

607Dh Software Position Limit

Function

Defines the limit positions relative to the reference point of the application in user-defined units.

Object description


Index 607Dh
Object name Software Position Limit
Object Code ARRAY
Data type INTEGER32
Savable yes, category: application
Firmware version FIR-v1426
Change history  

Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values  
Preset value 02h


Subindex 01h
Name Min Position Limit
Data type INTEGER32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 02h
Name Max Position Limit
Data type INTEGER32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h

Description

The target position must lie within the limits set here. Prior to every check, the respective Home Offset (607Ch) is subtracted:

Corrected Min Position Limit = Min Position Limit–Home Offset

Corrected Max Position Limit = Max Position Limit–Home Offset.

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