Bit 1 Bit 0 Denition
0 0 Positioning moves are performed relative to the preceding (internal absolute) target position (relative
to 0 if there is no preceding target position).
0 1 Positioning moves are performed relative to the position internal demand value (object 0x60FC) output
of the trajectory generator.
1 0 Positioning moves are performed relative to the position actual value (object 0x6064).
1 1 Reserved.
Table 7.101 Denition of Bits 0 and 1
The Rotary axis direction option bits (bits 6, 7, and 15) control the behavior of positioning tasks when the abs/rel bit (bit 6) in
the Controlword is set to 0 in prole position mode (= absolute positioning).
Controlled rotary axes are needed for rotary tables and conveyor belts. They are also needed for cases where the host
controller position limits are wider than the position range limits available in the servo drive. In these cases, the software
position limits (see chapter 7.7.7 Parameters 50-32 and 50-33: Software Position Limit (0x607D)) are out of the position range
limits (see chapter 7.7.6 Parameters 50-30 and 50-31: Position Range Limit (0x607B)). To disable the position range limits, set
the minimum position range limit (0x607B, sub-index 1) and maximum position range limit (0x607B, sub-index 2) to 0.
Depending on the application,
dierent rotary axis movements are possible. These are coded by bit 6, 7, and 15 (see
Table 7.102).
Servo Drive Parameter Descr... Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 275
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