9 Description of the object dictionary
Data type UNSIGNED32
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00001388
h
Firmware version FIR-v1426
Change history
60F2h Positioning Option Code
Function
The object describes the positioning behavior in Profile Position mode.
Object description
Index 60F2
h
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 0001
h
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:
RADO [2]MS RESERVED [3]
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
RRO [2] CIO [2] REL. OPT. [2]IP OPTION [4]
REL. OPT. (Relative Option)
These bits determine the behavior with relative rotating movement in "profile position" mode if bit 6 of
controlword 6040
h
= "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
6064
h
).
Version: 2.0.1 / FIR-v1650 246
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