Control Techniques Nidec SI-EtherCAT User Manual page 111

7.10.3 0x607D Software position limit
This object allows the user to configure a software position limits.
Table 7-91 Software Position Limit
0x607D Software Position 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
31
Default:
-2
PDO Mappable: RxPDO
Description: Min position limit.
Sub-index 2
Access: RW
31
Default:
-2 -1
PDO Mappable: RxPDO
Description: Max position limit.
7.10.4 0x6081 Profile velocity
This object is used to configure the profile velocity.
Table 7-92 Profile Velocity
0x6081 Profile Velocity
Access: RW
Default: 2147483647<
PDO Mappable: RxPDO
Motion Profiles: PP
This object indicates the configured velocity normally attained at the end of the acceleration
Description: ramp during a profiled motion and will be valid for both directions of motion. The value is given
in user-defined velocity units.
7.10.5 0x6083 Profile acceleration
This object is used to configure the profile acceleration
Table 7-93 Profile Acceleration
0x6083 Profile Acceleration
Access: RW
Default: 65536
PDO Mappable: RxPDO
Motion Profiles: PP
Description: This object indicates the configured acceleration.
SI-EtherCAT User Guide
Range: N/A Size: 1 byte
Type: Unsigned integer / USINT
Update rate: N/A
31 31
Size: 4 bytes
Range: -2 to 2 -1
Type: Signed integer / DINT
Update rate: When state changes to Switch On
31 31
Size: 4 bytes
Range: -2 to 2 -1
Type: Signed integer / DINT
Update rate: When state changes to Switch On
31
Size: 4 bytes
Range: 0 to 2
Type: Unsigned integer / UDINT
Update rate: When new Setpoint set (PP)
31
Size: 4 bytes
Range: 0 to 2
Type: Unsigned integer / UDINT
Update Rate: When new Setpoint set (PP)
Unit: N/A
Unit: User units
Unit: User units
Unit: User units
Unit: User units
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