Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

Страница: 118 / 278

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Limit Parameters 6.4.8
0x2004 Min software position limit
Index 0x2004 Object type VAR Name Min software position limit
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 inc Min software position limiting
After setting the min software position limiting and enabling the software position limiting, if the "Actual Position" does
not exceed the min/max value of the software position limiting, the servo motor will only receive reverse position
commands rather than syntropy ones when it reaches the min/max value of the software position limiting;
If the "Actual Position" exceeds the set min/max value, the servo drive will report fault 0xFF16/0xFF17.
Please refer to Figure 7.4-5 for the position command limit
0x2005 Max software position limit
Index 0x2005 Object type VAR Name Max software position limit
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 inc Max software position limiting
After setting the min software position limiting and enabling the software position limiting, if the "Actual Position" does
not exceed the min/max value of the software position limiting, the servo motor will only receive reverse position
commands rather than syntropy ones when it reaches the min/max value of the software position limiting;
If the "Actual Position" exceeds the set min/max value, the servo drive will report fault 0xFF16/0xFF17.
Please refer to Figure 7.4-5 for the position command limit
Figure 7.4-5.
Diagram of position command limit
0x2012 Positive velocity limit value
Index 0x2012 Object type VAR Name Positive velocity limit value
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 RXPDO rw UINT32 inc/s Positive velocity limit value
Set the positive velocity limit value, and the motor will not exceed the set value. Refer to Figure7.4-6.
99