60F2h Positioning Option Code Function This object defines the positioning behaviour in "Profile Position" mode. Object description Index 60F2h Object Name Positioning Option Code Object Code VARIABLE Data type UNSIGNED16 Saveable yes, category: application Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 0001h Firmware Version FIR-v1446 Change History Firmware Version FIR-v1614: Entry "Saveable" modified from "No" to "yes, category: application". Description At the moment only the following bits are supported: REL. OPT. (Relative Option) These Bits determine relative rotation behaviour in the "Profile Position" mode when bit 6 of the controlword 6040h ="1" is set. Bit 1 Bit 0 Definition 0 0 Positioning moves is performed relative to the preceding (internal absolute) target position (rsp. relative to 0 if there is no preceding target position). 0 1 Positioning moves is performed relative to the actual position demand value (respectively the output of the trajectory generator). 1 0 Positioning moves is performed relative to the position actual value (object 6064h). 1 1 Reserved RRO ( Request-Response Option) WARNING These options make the controller modify the object Controlword 6040h. These bits determine the behaviour of the controlword 6040h Bit 5 ("new setpoint") - the controller releases the bit itself. Therefore there is no need to set the bit to the value "0" externally. After the bit was set to "0" by the controller, the bit 12 ("setpoint acknowledgement") in the statusword 6041h is set to the value "0". Bit 4 Bit 5 Definition 0 0 The functionality is as described in Setting move commands. 0 1 The controller releases autonomously the new setpoint bit as soon as target is reached. 1 0 The controller releases autonomously the new setpoint bit as soon as able to accept new set- point data. 1 1 Reserved RADO (Rotary Axis Direction Option) These Bits determine the rotation in the "Profile Position" mode. Bit 7 Bit 6 Definition 0 0 Normal positioning similar to linear axis; If reaching or exceeding the position range limits (607Bh) the input value shall wrap 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; if target position is higher than actual position, axis moves over the min position limit 607Dh:01h to the target position. 1 0 Positioning only in positive direction; if target position is lower than actual position, axis moves over the max position limit 607Dh:02h to the target position. 1 1 Positioning with the shortest way to the target position. Note If the difference between actual value and target position in a 360° system is 180°, the axis moves in positive direction.
60F2h Positioning Option Code Function This object defines the positioning behaviour in "Profile Position" mode. Object description Index 60F2h Object Name Positioning Option Code Object Code VARIABLE Data type UNSIGNED16 Saveable yes, category: application Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 0001h Firmware Version FIR-v1446 Change History Firmware Version FIR-v1614: Entry "Saveable" modified from "No" to "yes, category: application". Description At the moment only the following bits are supported: REL. OPT. (Relative Option) These Bits determine relative rotation behaviour in the "Profile Position" mode when bit 6 of the controlword 6040h ="1" is set. Bit 1 Bit 0 Definition 0 0 Positioning moves is performed relative to the preceding (internal absolute) target position (rsp. relative to 0 if there is no preceding target position). 0 1 Positioning moves is performed relative to the actual position demand value (respectively the output of the trajectory generator). 1 0 Positioning moves is performed relative to the position actual value (object 6064h). 1 1 Reserved RRO ( Request-Response Option) WARNING These options make the controller modify the object Controlword 6040h. These bits determine the behaviour of the controlword 6040h Bit 5 ("new setpoint") - the controller releases the bit itself. Therefore there is no need to set the bit to the value "0" externally. After the bit was set to "0" by the controller, the bit 12 ("setpoint acknowledgement") in the statusword 6041h is set to the value "0". Bit 4 Bit 5 Definition 0 0 The functionality is as described in Setting move commands. 0 1 The controller releases autonomously the new setpoint bit as soon as target is reached. 1 0 The controller releases autonomously the new setpoint bit as soon as able to accept new set- point data. 1 1 Reserved RADO (Rotary Axis Direction Option) These Bits determine the rotation in the "Profile Position" mode. Bit 7 Bit 6 Definition 0 0 Normal positioning similar to linear axis; If reaching or exceeding the position range limits (607Bh) the input value shall wrap 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; if target position is higher than actual position, axis moves over the min position limit 607Dh:01h to the target position. 1 0 Positioning only in positive direction; if target position is lower than actual position, axis moves over the max position limit 607Dh:02h to the target position. 1 1 Positioning with the shortest way to the target position. Note If the difference between actual value and target position in a 360° system is 180°, the axis moves in positive direction.
Object description Index 60F2h Object Name Positioning Option Code Object Code VARIABLE Data type UNSIGNED16 Saveable yes, category: application Access Read/write PDO Mapping RX - PDO Admissible Values Specified Value 0001h Firmware Version FIR-v1446 Change History Firmware Version FIR-v1614: Entry "Saveable" modified from "No" to "yes, category: application".
Description At the moment only the following bits are supported: REL. OPT. (Relative Option) These Bits determine relative rotation behaviour in the "Profile Position" mode when bit 6 of the controlword 6040h ="1" is set. Bit 1 Bit 0 Definition 0 0 Positioning moves is performed relative to the preceding (internal absolute) target position (rsp. relative to 0 if there is no preceding target position). 0 1 Positioning moves is performed relative to the actual position demand value (respectively the output of the trajectory generator). 1 0 Positioning moves is performed relative to the position actual value (object 6064h). 1 1 Reserved RRO ( Request-Response Option) WARNING These options make the controller modify the object Controlword 6040h. These bits determine the behaviour of the controlword 6040h Bit 5 ("new setpoint") - the controller releases the bit itself. Therefore there is no need to set the bit to the value "0" externally. After the bit was set to "0" by the controller, the bit 12 ("setpoint acknowledgement") in the statusword 6041h is set to the value "0". Bit 4 Bit 5 Definition 0 0 The functionality is as described in Setting move commands. 0 1 The controller releases autonomously the new setpoint bit as soon as target is reached. 1 0 The controller releases autonomously the new setpoint bit as soon as able to accept new set- point data. 1 1 Reserved RADO (Rotary Axis Direction Option) These Bits determine the rotation in the "Profile Position" mode. Bit 7 Bit 6 Definition 0 0 Normal positioning similar to linear axis; If reaching or exceeding the position range limits (607Bh) the input value shall wrap 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; if target position is higher than actual position, axis moves over the min position limit 607Dh:01h to the target position. 1 0 Positioning only in positive direction; if target position is lower than actual position, axis moves over the max position limit 607Dh:02h to the target position. 1 1 Positioning with the shortest way to the target position. Note If the difference between actual value and target position in a 360° system is 180°, the axis moves in positive direction.
