User Manual Of EL7-EC** AC Servo
114
Index
607Ch
Label
Homing position
offset
Unit
Command
unit
Structure
VAR
Type
Int
32
Access
R
W
Mapping
TPDO Mode HM
Range
-21474836
47~214748
3647
Default 0
To set position offset to compensate for the deviation of mechanical origin from motor origin under
homing
Index
607Dh-01
Label
Min. software limit
Unit
Command
unit
Structure
VAR
Type
Int
32
Access
RW Mapping TPDO Mode HM
Range
-214748364
7~21474836
47
Default
0
To set lower limit with calculated position and actual position using absolute position after homing.
Index
607Dh-0
2
Label
Max. software limit
Unit
Command
unit
Structure
VAR
Type
Int
32
Access
RW Mapping TPDO Mode HM
Range
-214748364
7~21474836
47
Default
0
To set upper limit with calculated position and actual position using absolute position after homing.
Index
607Eh
Label
Motor rotational
direction
Unit
-
Structure
VAR
Type
UInt 8
Access
RW Mapping RPDO
Mode HM
Range
0x0 – 0xFF
Default 0x0
Mode
Value
Position
mode
PP
0
：
Rotate in the same direction as the position command
128
：
Rotate in the opposite direction to the position command
HM
CSP
Velocity
mode
PV
0
：
Rotate in the same direction as the position command
64
：
Rotate in the opposite direction to the position command
CSV
Torque
mode
PT
0
：
Rotate in the same direction as the position command
32
：
Rotate in the opposite direction to the position command
CST
ALL
mode
0
：
Rotate in the same direction as the position command
224
：
Rotate in the opposite direction to the position command
Sets the input polarity of the command.
