0x60F2 - Positioning option code

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x60F2	0x00	Positioning option code	UINT16	RW	Yes	Yes	-	0	-

This object indicates the configured positioning behavior.

The binary representation of the positioning option code is as follows:

Bit number:	15	14	…	12	11	...	8	7	6	5	4	3	2	1	0
	-	-			-			Rotary axis option		-		-		Relative option

Relative option

The relative option bits control the behavior of positioning tasks in detail when the abs/rel bit (bit 6) of the controlword is set to 1 in profile position mode. Next table defines the values for the relative option:

Name	Bit 1	Bit 0	Description
Relative option	0	0	Positioning moves are performed relative to the preceding (internal absolute) target position (rsp. relative to 0 if there is no preceding target position).
	0	1	Positioning moves are performed relative to the actual position demand value (object 0x60FC).
	1	0	Positioning moves are performed relative to the position actual value (object 0x6064).
	1	1	-

Rotary axis option (modulo type)

The rotary option bits control the behavior of the Modulo functionality. Next table defines the values for choosing between the different modulo movements:

Name	Bit 7	Bit 6	Description
Rotary axis option	0	0	Normal positioning similar to linear axis. If reaching or exceeding the 0x607B - Position range limit, the input value wraps automatically to the other end of the range. Positioning can be relative or absolute. Only with this bit combination, the movement greater than a modulo value is possible.
	0	1	Positioning only in negative direction.
	1	0	Positioning only in positive direction.
	1	1	Positioning with the shortest way to the target position. *If the difference between actual value and target position is the same in both directions, the axis moves in positive direction.