Commissioning
EL70x1152 Version: 4.4
Name Command Group Description
ABSOLUTE 0x0001
Standard [}152]
Absolute positioning to a specified target position
RELATIVE 0x0002 Relative positioning to a calculated target position; a specified posi-
tion difference is added to the current position
ENDLESS_PLUS 0x0003 Endless travel in the positive direction of rotation (direct specification
of a speed)
ENDLESS_MINUS 0x0004 Endless travel in the negative direction of rotation (direct specifica-
tion of a speed)
ADDITIVE 0x0006 Additive positioning to a calculated target position; a specified posi-
tion difference is added to the last target position
ABSOLUTE_CHANGE 0x1001
Standard Ext.
[}153]
Dynamic change of the target position during a travel command to a
new absolute position
RELATIVE_CHANGE 0x1002 Dynamic change of the target position during a travel command to a
new relative position (the current changing position value is used
here also)
ADDITIVE_CHANGE 0x1006 Dynamic change of the target position during a travel command to a
new additive position (the last target position is used here)
MODULO_SHORT 0x0105
Modulo [}155]
Modulo positioning along the shortest path to the modulo position
(positive or negative), calculated by the "Modulo factor" (Index
0x8020:0E)
MODULO_SHORT_EXT 0x0115 Modulo positioning along the shortest path to the modulo position;
the "Modulo tolerance window" (Index 0x8020:0F) is ignored
MODULO_PLUS 0x0205 Modulo positioning in the positive direction of rotation to the calcu-
lated modulo position
MODULO_PLUS_EXT 0x0215 Modulo positioning in the positive direction of rotation to the calcu-
lated modulo position; the "Modulo tolerance window" is ignored
MODULO_MINUS 0x0305 Modulo positioning in the negative direction of rotation to the calcu-
lated modulo position
MODULO_MINUS_EXT 0x0315 Modulo positioning in the negative direction of rotation to the calcu-
lated modulo position; the "Modulo tolerance window" is ignored
MODULO_CURRENT 0x0405 Modulo positioning in the last direction of rotation to the calculated
modulo position
MODULO_CURRENT_EXT 0x0415 Modulo positioning in the last direction of rotation to the calculated
modulo position; the "Modulo tolerance window" is ignored
CALI_PLC_CAM 0x6000
Calibration [}154]
Start a calibration with cam (digital inputs)
CALI_HW_SYNC 0x6100 Start a calibration with cam and HW sync pulse (C-track)
SET_CALIBRATION 0x6E00 Manually set the terminal to "Calibrated"
SET_CALIBRATION_AUTO 0x6E01 Automatically set the terminal to "Calibrated" on the first rising edge
on "Enable"
CLEAR_CALIBRATION 0x6F00 Manually delete the calibration
Table 2: Supported “Start types” of the “Positioning interface”
ABSOLUTE
The absolute positioning represents the simplest positioning case. A position B is specified and travelled to
from the start point A.
Fig.176: Absolute positioning
RELATIVE
In relative positioning, the user specifies a position delta S, which is added to the current position A,
producing the target position B.
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