Festo Электромотор MTR-DCI - Manual (Page 309)

C. Reference – CANopen and CI objects
C-33
Festo P.BE-MTR-DCI-CO-EN en 1209a
Target position
CANopen / CI 607Ah – / 00h Var int32 rw
Description Target position in increments. Compare 20E0/02h.
Writing the object does not yet trigger movement.
CiA 402: Current target that the drive should approach in positioning mode,
interpreted as relative or absolute dependent on bit 6 in control word 6040h.
FHPP: The target position will be stored in the intended line addressed by ob-
ject 2032h in the column intended in the position table for the direct mode.
Value range: -2
31 ... +(2 31 -1)
Position range limits (software end positions)
CANopen / CI 607Bh 01h, 02h Array int32 rw
Description Software end positions in increments, see PNU 501, section B.2.9.
Lower limit 607Bh 01h int32
Lower software end position
Upper limit 607Bh 02h int32
Upper software end position
FHPP 501 1, 2 Array int32 rw
FHPP: “Software end positions”
Home offset (offset axis zero point)
CANopen / CI 607Ch – / 00h Var int32 rw
Description Axis zero point offset in increments, see PNU 1010, section B.2.16.
FHPP 1010 – Var int32 rw
FHPP: “Offset axis zero point”
Polarity (reversal of direction)
CANopen / CI 607Eh – / 00h Var uint8 rw
Description The direction of the position values is reversed.
see PNU 1000, section B.2.15.
FHPP 1000 – Var uint8 rw