Profile Position Mode - YASKAWA SGD7S-1R9D Product Manual

14.7

Profile Position Mode

Target Position (607A Hex)
This object contains the target position for the Profile Position Mode or Cyclic Synchronous
Position Mode.
In Profile Position Mode, the value of this object is interpreted as either an absolute or relative
value depending on the Abs/Rel Flag in controlword. In Cyclic Synchronous Position Mode, the
value is always interpreted as an absolute value.
Subin-
Index
dex
607A hex 0
Software Position Limits (607D Hex)
This object defines the absolute positions of the limits to the target position (position demand
value). Every target position is checked against these limits.
The limit positions are specified in user-defined position reference units, the same as for target
positions, and are always relative to the machine home position.
The limit values are corrected internally for the home offset as given below. The target positions
are compared with the corrected values.
• Corrected minimum position limit = Min position limit – Home offset (607C hex)
• Corrected maximum position limit = Max position limit – Home offset (607C hex)
The software position limits are enabled at the following times:
• When homing is completed
• When an absolute encoder is connected
The software limits are disabled if they are set as follows:
• Min position limit ≥ Max position limit
Subin-
Index
dex
0
1
607D hex
2
Max Profile Velocity (607F Hex)
This object contains the maximum speed during a Profile Mode operation.
Subin-
Index
dex
607F hex 0
Data
Name
Type
Target position DINT
Data
Name
Type
Number of entries USINT
Min position limit DINT
Max position limit DINT
Data
Name
Type
Max profile velocity UDINT
PDO
Access
Mapping
–2,147,483,648 to
RW Yes 2,147,483,647
(default: 0) [Pos. unit]
PDO
Access
Mapping
RO No
–536,870,912 to
RW No 536,870,911
(default: 0) [Pos. unit]
–536,870,912 to
RW No 536,870,911
(default: 0) [Pos. unit]
PDO
Access
Mapping
0 to 4,294,967,295
RW Yes
2,147,483,647)

14.7 Profile Position Mode

Saving to
Value
EEPROM
No
Saving to
Value
EEPROM
2 No
Yes
Yes
Saving to
Value
EEPROM
(default:
Yes
[Vel. unit]
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