0x024 - Positioning option code
Address | Name | Data Type | Access | Cyclic access | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|
0x024 | Positioning option code | UINT16 | RW | Yes | Yes | Data type | 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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Profiler trajectory origin | - | - | Rotary axis option | - | - | Relative option | |||||||||
Relative option
It is not supported on current versions.
Rotary axis option
The next table defines the values for choosing between the different rotary option movements:
Name | Bit 7 | Bit 6 | Description |
|---|---|---|---|
Rotary axis option | 0 | 0 | Normal positioning similar to linear axis. If reaching or exceeding the Position range limits, 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 |
Profiler trajectory origin
This bit defines the origin of position profiler trajectories.
Name | Bit 15 | Description |
|---|---|---|
Profiler trajectory origin | 0 | Position profile trajectories begin from latest demanded values (except on operation mode change) |
| 1 | Position profile trajectories begin from position actual value |