N5 CANopen Online Manual V2.0.0

60F2h Positioning Option Code

Function

The object describes the positioning behavior in Profile Position mode.

Object description

Index 60F2h
Object name Positioning Option Code
Object Code VARIABLE
Data type UNSIGNED16
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0001h
Firmware version FIR-v1446
Change history

Firmware version FIR-v1614: "Savable" entry changed from "no" to "yes, category: application".

Description

Only the following bits are supported at the present time:

REL. OPT. (Relative Option)

These bits determine the behavior with relative rotating movement in "profile position" mode if bit 6 of controlword 6040h = "1" is set.

Bit 1 Bit 0 Definition
0 0 Position movements are executed relative to the previous (internal absolute) target position (each relative to 0 if there is no previous target position)
0 1 Position movements are executed relative to the preset value (or output) of the ramp generator.
1 0 Position movements are performed relative to the current position (object 6064h).
1 1

Reserved

RRO (Request-Response Option)

These bits determine the behavior when passing controlword 6040h bit 4 ("new setpoint") – in this case, the controller releases the bit itself. This eliminates the need to externally reset the bit to "0" afterwards. After the bit is set to the value "0" by the controller, bit 12 ("setpoint acknowledgment") is also set to the value "0" in statusword 6041h.

Note: These options cause the controller to modify object controlword 6040h.
Bit 5 Bit 4 Definition
0 0 The functionality is as described under Setting travel commands.
0 1 The controller releases the "new setpoint" bit as soon as the current targeted movement has reached its target.
1 0 The controller releases the "new setpoint" bit as soon this is possible for the controller.
1 1 Reserved
RADO (Rotary Axis Direction Option)

These bits determine the direction of rotation in "profile position" mode.

Bit 7 Bit 6 Definition
0 0 Normal positioning similar to a linear axis: If one of the "Position Range Limits" – 607Bh:01h and 02h – is reached or exceeded, the preset is automatically transferred to the other end of the limit. Only with this bit combination is a movement greater than the modulo value possible.
0 1 Positioning only in negative direction: If the target position is greater than the current position, the axis moves to the target position via the "Min Position Range Limit" from object 607Dh:01h.
1 0 Positioning only in positive direction: If the target position is less than the current position, the axis moves to the target position via the "Max Position Range Limit" from object 607Dh:01h.
1 1

Positioning with the shortest distance to the target position. If the difference between the current position and the target position in a 360° system is less than 180°, the axis moves in the positive direction.

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