Positioning
Limits
43
6.12.6 Limits
Position limit value min-max.
The position limit values are software end limits and correspond to the absolute position limits, within which the set values and
actual values (in absolute form) must be moved. Each new target position is checked with these limits. They always refer to the
machine zero point; therefore they must be corrected using the reference measurement offset.
Object Description
Index
0x607d
Symbol
GRENZEN
Length
4
Min
0x80000000
Object code
Array
Elements
2
Max
0x7FFFFFFF
Data type
Integer32
Access rights
read/write
PDO mapping
no
Data Description
Unit
mm (or inch)
Resolution
1
⇔
0.001 mm (or inch)
Sub-index
Assignment
Sub-index
Assignment
1
Negative limit stop
2
Positive limit stop
Observe the number range of the integer 32 format (see page 7 under "Integer ").
Limits outside -2 147 483 - +2 147 483 units cannot be depicted.
6.12.7 Positioning window
The positioning window is situated symetrically around the position target.
Once the position actual value lies within this window, the Bit "Position reached" is set in the status word.
Object Description
Index
6067
Symbol
POS_FENSTER
Length
4
Min
0x00000000
Object code
Variable
Max
0xFFFFFFFF
Data type
Unsigned32
Access rights
read/write
PDO mapping
no
Data Description
Unit
mm (or inch)
Resolution
1
⇔
0.001 mm (or inch)
6.12.8 Lag error window
The lag error window is situated symetrically around the actually specified position set point value.
If the current position indicator actual value lies outside this window, a contour error occurs.
Object Description
Index
0x6065
Symbol
SCHLEPP_FEN
Length
4
Min
0x00000000
Object code
Variable
Max
0xFFFFFFFF
Data type
Unsigned32
Access rights
read/write
PDO mapping
no
Data Description
Unit
mm (or inch)
Resolution
1
⇔
0.001 mm (or inch)
