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Chapter 3 – Device Profile
CD1-k – CANopen Communication Profile
3.13.5.5 - Object 3360h: Axis Type
This parameter defines the axis type: linear or rotative.
A linear axis has the software position limit active. For a rotary axis, the software position limit is inactive.
Index 3360h
Name Axis
Type
Object Code
VAR
Data Type
Unsigned8
Object Class
ip pp hm
Access rw
PDO Mapping
No
Value Range
0=rotative, 1=linear
Default Value
0
3.13.5.6 - Object 3361h: Software position limit operation
This parameter defines the operation mode of the software position limits when they are active (see object 3360).
Index 3361h
Name
Software position limit operation
Object Code
VAR
Data Type
Unsigned8
Object Class
ip pp hm
Access rw
PDO Mapping
No
Value Range
0=error mode, 1=locked mode
Default Value
0
Software position limit operation in the "error mode" :
When the motor reaches the software position limit, an error occurs. To move out of the limit, the
controller can:
- set the bit "out of limit" in control word which authorizes to move the motor.
- or change the "axis type" to rotary.
Software position limit operation in the "locked mode":
When the motor reaches the software position limit, it starts braking. The slow down current limit is
defined in object 3302h. When the 0 speed is reached, the motor remains enabled at standstill. To move
out of the limit, the controller must generate a displacement in the opposite direction.
Remark : The hardware position limits (Limit Switch - and Limit ) are operating in "locked mode".
3.13.5.7 - Object 3350h: Absolute 16-bit Mode
Index 3350h
Name
Absolute 16-bit mode
Object Code
VAR
Data Type
Unsigned8
Object Class
ip
Access rw
PDO Mapping
No
Value Range
0..1
Default Value
0
The position reference in interpolated position mode can be defined as 16-bits only. This is to reduce the bus
traffic.
When in 16-bit mode (object 3350h = 1), the position reference in object 60C1-1 via PDO is set at 16 bits and the
drive calculates the upper word. At the beginning, it is necessary to set the upper word with object 60C1-1 via
SDO (Integer32). The mapping of RPDO3 must be changed to object 60C1 sub-index 1 with 16-bit length.