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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:

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