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A-63
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1
CiA402 D
ri
ve Pr
ofile
App
A-1
-12 Ser
v
o Dr
iv
e Profile Object
•
This object sets the software limit.
•
Ranges for the Position demand value and Position actual value are restricted. Whenever a new
target position is set, it is checked against these ranges.
•
The software limit is always a relative value to the mechanical origin.
•
The Min position limit is the limiting value for negative direction and the Max position limit is the
limiting value for positive direction.
Precautions for Correct Use
Precautions for Correct Use
•
Make sure that the Positive position limit is larger than the Negative position limit.
•
The software position limit is disabled when an origin return has not been completed.
•
This object sets the maximum velocity in the Cyclic synchronous torque mode.
•
This object sets the target velocity for Profile position mode (pp).
607D hex
Software position limit
Sub-index 00 hex
Number of entries
Range
Unit
Default
02 hex
Attribute
Size
1 byte (U8)
Access
RO
PDO map
Not possible
Sub-index 01 hex
Min position limit
Range
1,073,741,823
to 1,073,741,823
Unit
Command
units
Default
500,000
Attribute
A
Size
4 bytes (INT32)
Access
RW
PDO map
Not possible
Sub-index 02 hex
Max position limit
Range
1,073,741,823
to 1,073,741,823
Unit
Command
units
Default
500,000
Attribute
A
Size
4 bytes (INT32)
Access
RW
PDO map
Not possible
607F hex
Max profile velocity
Range
0 to
2,147,483,647
Unit
Command
units/s
Default
0
Attribute
A
Size
4 bytes (U32)
Access
RW
PDO map
Possible
60
8
1 hex
Profile Velocity
Range
0 to
2,147,483,647
Unit
Command
units/s
Default setting
0
Attribute
A
Size
4 bytes (U32)
Access
RW
PDO map
Possible
All
cst
pp