0x607D - Software position limit
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
---|---|---|---|---|---|---|---|---|---|
0x607D | 0x01 | Min position | INT32 | RW | Yes | Yes | INT32 | 0 | encoder counts |
0x607D | 0x02 | Max position | INT32 | RW | Yes | Yes | INT32 | 0 | encoder counts |
It contains two parameters, a minimum position limit and a maximum position limit. These parameters define the absolute position limits for the target and current position.
To disable the software position limits, the min position limit and max position limit shall be 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: