Figure 110: Position control overview
6.5.1.1 Resolution of the position values
The number of increments per position encoder rotation can be adjusted in co03
position rot.scale (bit).
The position resolution for one revolution is adjusted here. The default value of 16
(bit) corresponds to a resolution of 65536 increments per revolution.
Since the objects for the positions all have a size of 32 bit, the maximum amount of
whole revolutions result also from co03.
Maximum whole revolutions of the position encoder: ± 2
(
31 - co03)
6.5.1.2 Software position limits
The limits for the set position (ps16 (CiA 0x607D [2]) max software position limit
and ps17 (CiA 0x607D [1]) min software position limit) are checked at the start of
the positioning.
➢ The positioning is not carried out if the set value is outside of these limits.
In this case, no error or warning is issued.
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