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11.2 Objects
Object 0x607A: Target position
The target position is the position to which the drive should move in position profile
mode, using the current settings of motion control parameters such as velocity,
acceleration, deceleration and motion profile type. The target position is given in user-
defined position units. It is converted to position increments using the position factor. The
target position is interpreted as absolute or relative, depending on the Abs/Rel flag in the
controlword.
Object description:
Index 607Ah
Name Profile target position
Object code VAR
Data type INTEGER32
Category Mandatory
Entry description:
Access Read/write
PDO mapping No
Value range INTEGER32
Default value No
Object 0x607B: Position range limit
This object contains two sub-parameters that limit the numerical range of the input value:
min position range limit and max position range limit. On reaching or exceeding these limits,
the input value automatically wraps to the other end of the range. Wrap-around of the
input value can be prevented by setting software position limits.
Notes:
The high position range limit and the low position range limit must be even.
This object cannot be set while in OPERATION ENABLE or QUICK STOP state.
Object description:
Index 607Bh
Name Position range limit
Object code ARRAY
Data type INTEGER32
Category Mandatory
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
72