Control Techniques Nidec SI-EtherCAT User Manual page 110

7.10.1 0x606B Velocity Demand ValuePosition window time
The Velocity Demand Value object shows the velocity output of the trajectory generator in user
units.
Table 7-89 Velocity Demand Value
0x606B Torque offset
Access: RO
Default: 0
PDO Mappable: TxPDO
Motion Profiles: PP
This object shall provide the output value of the trajectory generator. The value shall be given
Description:
in the user-defined velocity units.
7.10.2 0x607B Position range limit
This object allows the user to configure the numerical range limit of the position, on reaching or
exceeding the limits, the target, actual and demand position values internally wrap to the other end
of the range.
A value of 0 in both minimum and maximum range limits will disable the limit function.
The movement direction can be configured using object 0x60F2 (Positioning option code). This
implementation is particularly targeted to rotary axes.
Table 7-90 Position Range Limit
0x607B Position Range Limit
Sub-index 0
Access: RO
Default: 2
PDO Mappable: No
Motion Profiles: PP
Description: This object shall indicate the configured maximal and minimal position range limits.
Sub-index 1
Access: RW
Default: 0
PDO Mappable: RxPDO
Description: Min position range limit. Values other than 0 are not supported for this sub-index.
Sub-index 2
Access: RW
Default: 0
PDO Mappable: RxPDO
Description: Max position range limit. Negative values are not supported.
110
31 31
Range: -2 to 2 -1
Range: N/A
31 31
Range: -2 to 2 -1
31 31
Range: -2 to 2 -1
Size: 4 bytes Unit: User units
Type: Signed integer / DINT
Update rate: Every Network Cycle period
Size: 1 byte Unit: N/A
Type: Unsigned integer / USINT
Update rate: N/A
Size: 4 bytes Unit: User units
Type: Signed integer / DINT
Update rate: When state changes to Switch On
Size: 4 bytes Unit: User units
Type: Signed integer / DINT
Update rate: When state changes to Switch On
SI-EtherCAT User Guide