AKD EtherCAT | 5 Appendix
5.3.63 Object 607Ah: Target position (DS402)
The object target position defines the target position for the drive. The target position is inter-
preted as a relative distance or an absolute position, depending on Bit 6 of the control word.
The type of relative movement can be further defined by the manufacturer-specific parameter
35B9h Subindex 0. Other properties like following motion tasks can be set with this object as
well. The mechanical resolution is set via the scaling objects 6091h and 6092h.
Index
607Ah
Name
target position, MT.P
Object code
VAR
Data type
INTEGER32
Mode
pp, csp
Access
R/W
PDO mapping
possible
Unit
user-defined
Value range
-(2
31
-1) to (2
31
-1)
Default value
—
5.3.64 Object 607Ch: Homing offset (DS402)
The reference offset (home offset) is the difference between the zero position for the applic-
ation and the zero point of the machine. All subsequent absolute motion tasks take account
of the reference offset.
Index
607Ch
Name
home offset, HOME.P
Object code
VAR
Data type
INTEGER32
Mode
hm
Access
R/W
PDO mapping
not possible
Unit
user-defined
Value range
(-2
31
) to (2
31
-1)
Default value
0
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Kollmorgen | kdn.kollmorgen.com | October 2017
