607Dh, 687Dh Software position limit - Axis #
This object controls the software position limits scaled in CANopen position units. Sub-index 1 maps to AXIS#.SWLS.LIMIT0 and sub-index 2 maps to AXIS#.SWLS.LIMIT1. When the limit switches are enabled and the actual position triggers on a limit, the drive will stop motion.
-
- AXIS#.SWLS.EN (500Fh sub 1) must be set properly to enable the corresponding position limits. Bit 0 enables LIMIT0 and Bit 1 enables LIMIT1.
See Limits.
Axis 1
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 607Dh | 0h | Unsigned8 | - | - | Read only | No |
| Software position limit 1 - Axis 1 | 607Dh | 1h | Signed32 | - | Position | Read/Write | No |
| Software position limit 2 - Axis 1 | 607Dh | 2h | Signed32 | - | Position | Read/Write | No |
Axis 2
| Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|
| Highest sub-index supported | 687Dh | 0h | Unsigned8 | - | - | Read only | No |
| Software position limit 1 - Axis 2 | 687Dh | 1h | Signed32 | - | Position | Read/Write | No |
| Software position limit 2 - Axis 2 | 687Dh | 2h | Signed32 | - | Position | Read/Write | No |
