2. Object index
Interbus-S
32
2.7 Positioning
2.7.1 POSA
Absolute positioning. Reference point is real zero (RN).
Positioning is done with the acceleration time (brake time) set by ACCELL-POS (ACCEL-NEG) and the velocity set by SPEED.
If these values were not set, then valid are
substitute values:
SPEED: Parameter P002; ACCEL: Parameter P006
Object Description
Index
0x5ff0
Symbol
POSA
Length
6
Access groups
0
Object code
Simple var.
Password
0
Data type
Octet String
Access rights
Write all
PD Map
Not possible
Data Description
Data format
BCD
Unit
mm (or inch)
Value range
-4 000 000 000 ... +4 000 000 000
Resolution
1
⇔
0.001 mm (or inch)
Data byte [Bit] Assignment Data byte [Bit] Assignment
1 [7 ..... 0]
Value sign (0x00
⇔
+
; 0xff
⇔
-
)
2 [7,6,5,4]
10
9
4 [3,2,1,0]
10
4
2 [3,2,1,0]
10
8
5 [7,6,5,4]
10
3
3 [7,6,5,4]
10
7
5 [3,2,1,0]
10
2
3 [3,2,1,0]
10
6
6 [7,6,5,4]
10
1
4 [7,6,5,4]
10
5
6 [3,2,1,0]
10
0
Example
The drive must travel to the absolute position 7350.150 mm.
Service
Write request
Sub-index
0
3. data byte
0x07
Command Code
0x8082
Length
6
4. data byte
0x35
Param. counter
6
1. data byte
0x00
5. data byte
0x01
Index
0x5ff0
2. data byte
0x00
6. data byte
0x50
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