ABB FECA-01 EtherCAT, User Manual

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130 Appendix A – CoE Object Dictionary
607B 0 Position
range limit
U8 R Modulo values for the
position command val-
ue. When the limits
are exceeded, the
command value wraps
around to the other
end of the range.
Modulo calculation is
disabled when both
limit values are zeros.
1 Min posi-
tion range
limit
I32 RW Minimum input posi-
tion data value.
Default: 0 FBA
2 Max posi-
tion range
limit
I32 RW Maximum input posi-
tion data value.
Default: 0 FBA
607C Home offset I32 RW Offset from zero point
to home position.
Default: 0.
Note : New values are
activated in homing
mode only.
FBA
607D 0 Software
position lim-
it
U8 R Saturation limit val-
ues for the position
command value
1 Min posi-
tion limit
I32 RW Default: -2
31
FBA
2 Max posi-
tion limit
I32 RW Default: 2
31
- 1 FBA
6081 Profile ve-
locity U32 RW Velocity normally at-
tained at the end of
the acceleration ramp
during a profiled
move. Cyclic low pri-
ority communication. Drv
Index SI Name Type Ac-
cess
PM Information NVS