User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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target position is checked against these limits. The limit positions are always relative to the machine home
position. Before being compared with the target position, they are corrected internally by the home offset
as follows:
Corrected_min_position_limit = min_position_limit − home_offset
Corrected_max_position_limit = max_position_limit − home_offset
Object Description
Index Name Object Type Data Type
607D
h
Software Position Limit Array SIGNED32
Table 404: Object Description (607D
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Mininmum Position Limit rw no SIGNED32 -2147483648
2 Maximum Position Limit rw no SIGNED32 2147483647
Table 405: Entry Description (607D
h
)
11.1.9 Object 60B2
h
: Torque Offset
This object provides an offset to the torque value. It will be added to the target torque (object 6071
h
, see
section 11.1.6).
Object Description
Index Name Object Type Data Type
60B2
h
Offset Torque Variable INTEGER16
Table 406: Object Description (60B2
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw yes -32768. . . 32767 0
Table 407: Entry Description (60B2
h
)
11.1.10 Object 60C2
h
: Interpolation Time Period
This object indicates the interpolation cycle time. The interpolation time period (sub-index 01
h
) is given in
10
interpolation_time_index
s. The interpolation time index (sub-index 02
h
) is dimensionless.
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