User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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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_of fset
Corrected_max_position_limit = max_position_limit − home_of fset
Object Description
Index Name Object Type Data Type
607D
h
Software Position Limit Array SIGNED32
Table 348: 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 349: Entry Description (607D
h
)
10.1.6 Object 60B1
h
: Velocity Offset
This object provides an offset to the target velocity (object 60FF
h
, see section 10.1.4)). The value will be
added to the target velocity.
Object Description
Index Name Object Type Data Type
60B1
h
Velocity Offset Variable INTEGER32
Table 350: Object Description (60B1
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw yes -2147483648. . . 2147483647 0
Table 351: Entry Description (60B1
h
)
10.1.7 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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