|
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.
|
|
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
|