TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
71 / 110
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 207: Entry Description (606C
h
)
6.1.10
Object 607A
h
: Target Position
The target position is the position that the drive should move to in profile position mode using the current
settings of motion control parameters (such as velocity, acceleration, deceleration, motion profile type
etc.). The value of this object is interpreted as absolute or relative depending on the abs/rel flag in the
controlword. It is given in microsteps.
Object Description
Index
Name
Object Type
Data Type
607A
h
Target Position
Variable
SIGNED32
Table 208: Object Description (607A
h
in pp Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
Refer to CiA402-3
SIGNED32
0
Table 209: Entry Description (607A
h
in pp Mode)
6.1.11
Object 607D
h
: Software Position Limit
This object indicates the configured maximal and minimal software position limits. These parameters
define the absolute position limits for the position demand value and the position actual value. Every new
target position is checked against these limits. The limit positions are always relative to the machine home
position. Before being compared with the target position, they are corrected internally by the home offset
as follows:
Corrected
_
min
_
position
_
limit
=
min
_
position
_
limit
−
home
_
of f set
Corrected
_
max
_
position
_
limit
=
max
_
position
_
limit
−
home
_
of f set
Object Description
Index
Name
Object Type
Data Type
607D
h
Software Position Limit
Array
SIGNED32
Table 210: Object Description (607D
h
)
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at