Object Description - Kollmorgen S300 Interface Manual

Kollmorgen
4.11.4

Object description

4.11.4.1 Object 607Ah: target position (DS402)
The object target position defines the target position for the drive. The target position is interpreted
as a relative distance or an absolute position, depending on Bit 6 of the control word.
The type of relative movement can be further defined by the manufacturer-specific parameter 35B9
Subindex 1.
The mechanical resolution is set by the gearing factors Object 6093
Index
Name
Object code
Data type
Mode
Access
PDO mapping
Unit
Value range
Default value
EEPROM
4.11.4.2 Object 607Dh: Software position limit (DS402)
Software position limit contains the sub-parameters min position limit and max position limit. New
effective target positions are checked against these limits. The limits are relative to the machine
home position, which is build through homing including the home offset (Object 607C).
As default the software position limits are switched off. If the values are changed from these default
values a special configuration is made in the drive. Therefore the new values have to be saved and
the drive has to be restarted to take the software limits into action.
Index
Name
Object code
Data type
Category
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
Subindex
Description
Category
Access
PDO mapping
Value range
Default value
CANopen for S300/S700
11/2018
607A
h
target position
VAR
INTEGER32
pp
rw
possible
user-defined
31 31
-(2 -1) ... (2 -1)
—
no
607D
h
Software position limit
ARRAY
INTEGER32
optional
0
number of entries
mandatory
ro
not possible
2
2
1
min position limit
mandatory
rw
possible
INTEGER32
0 (switched off)
2
max position limit
mandatory
rw
possible
INTEGER32
0 (switched off)
CANopen Drive Profile
Subindex 1 and 2.
h
h
85