0x21EA - Min position
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x21EA | 0x00 | Min position | INT32 | RW | Yes | Yes | Data type | - | encoder counts |
This object sets the user minimum allowed position.
This register limits the position values in position modes of operation. This limits are disabled if both registers Min position and Max position are set to 0.
This limits are available in all other modes of operation but instead of limiting the position, as there is not a position regulation, a fault is generated if the actuator overcomes the limit values.
In position modes, the actual position must be located inside the configured min. and max. position before enabling the motor.
If software position limits and position range limits are enabled, the more restricted is applied. Software position limits are chosen in case of conflict:
