10 OBJECT DICTIONARY
10.4 Object dictionary details (objects in the 6000s)
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10
Software Position Limit (607Dh)
The current software limit setting can be read.
At this time, "02h" is returned to Number of entries.
For Min Position Limit, the software stroke limit value for the reverse rotation direction is returned in command units.
For Max Position Limit, the software stroke limit value for the forward rotation direction is returned in command units.
The current software limit setting can also be written.
At this time, set "02h" for Number of entries.
For Min Position Limit, set the software stroke limit value for the reverse direction in command units.
For Max Position Limit, set the software stroke limit value for the forward direction in command units.
For the
m, inch, and pulse units, when the setting value of Min position limit is greater than the setting value of Max position
limit, the Software position limit (607Dh) function is disabled. For the degree unit, when the same value is set for Min position
limit and Max position limit, the Software position limit (607Dh) function is disabled.
Polarity (607Eh)
The rotation direction selection can be set.
The rotation direction of a servo motor to position commands, speed commands, and torque commands can be set. To set the
rotation direction to position commands and speed commands, turn on or off both bits 6 and 7 of Polarity (607Eh) or use [Pr.
PA14]. To set the rotation direction to torque commands, turn on or off all of bits 5 to 7 of Polarity (607Eh), or use [Pr. PA14]
and "POL reflection selection at torque mode" of [Pr. PC29]. The following table shows the descriptions of Polarity (607Eh).
Index
Sub Index
Name
Data Type
Access
607Dh
0
Software Position Limit
Number of entries
U8
ro
1
Min Position Limit
I32
rw
2
Max Position Limit
I32
Index
Sub Index
Name
Data Type
Access
607Eh
0
Polarity
U8
rw
Bit
Description
0
Reserved
The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
Torque POL
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bits 5 to 7 in combination.
6
Velocity POL
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bits 5 to 7 in combination.
7
Position POL
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bits 5 to 7 in combination.
