YASKAWA SGD7S-120D, Product Manual

Page: 460 / 603

14.7 Profile Position Mode
14-29
14
Object Dictionary
14.7 Profile Position Mode
Target Position (607A Hex)
This object contains the target position for the Profile Position Mode or Cyclic Synchronous
Position Mode.
In Profile Position Mode, the value of this object is interpreted as either an absolute or relative
value depending on the Abs/Rel Flag in
controlword . In Cyclic Synchronous Position Mode, the
value is always interpreted as an absolute value.
Software Position Limits (607D Hex)
This object defines the absolute positions of the limits to the target position ( position demand
value ). Every target position is checked against these limits.
The limit positions are specified in user-defined position reference units, the same as for target
positions, and are always relative to the machine home position.
The limit values are corrected internally for the home offset as given below. The target positions
are compared with the corrected values.
•
Corrected minimum position limit = Min position limit – Home offset (607C hex)
•
Corrected maximum position limit = Max position limit – Home offset (607C hex)
The software position limits are enabled at the following times:
•
When homing is completed
•
When an absolute encoder is connected
The software limits are disabled if they are set as follows:
•
Min position limit
≥
Max position limit
Max Profile Velocity (607F Hex)
This object contains the maximum speed during a Profile Mode operation.
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
607A hex 0 Target position DINT RW Yes
–2,147,483,648 to
2,147,483,647
(default: 0) [Pos. unit]
No
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
607D hex
0 Number of entries USINT RO No 2 No
1 Min position limit DINT RW No
–536,870,912 to
536,870,911
(default: 0) [Pos. unit]
Yes
2 Max position limit DINT RW No
–536,870,912 to
536,870,911
(default: 0) [Pos. unit]
Yes
Index
Subin-
dex
Name
Data
Type
Access
PDO
Mapping
Value
Saving to
EEPROM
607F hex 0 Max profile velocity UDINT RW Yes
0 to 4,294,967,295
(default:
2,147,483,647)
[Vel. unit]
Yes