Positioning
Position target
41
6.12 Positioning
6.12.1 Position target
Position set point default
Absolute positioning. Reference point is the real null (RN) or relative positioning:
adjustable via the control word bit 6 (0 = absolute; 1 = relative).
Positioning is done with the set acceleration time (deceleration time) and the set speed. If these values were not set, then valid
are substitute values:
Velocity: Parameter P002; acceleration time: Parameter P006
Object Description
Index
0x607a
Symbol
LAGE_ZIEL
Length
4
Min
0x80000000
Object code
Variable
Max
0x7FFFFFFF
Data type
Integer32
Access rights
read/write
PDO mapping
yes
Data Description
Unit
mm (or inch)
Resolution
1 ⇔ 0.001 mm (or inch)
The "Position target" object can be laid on a R-PDO. A handshake can be used to assign a new set point value (see also with
R-PDO control; bit 15; page 21). This is done using the following bits:
!
Control word byte 2 bit 4 "new set point" and
!
Status word byte 1 bit 4 "acknowledge record point"
Function:
New set point
set point
acknow ledgment
(1)
(3)
2
4
Transition
1
2
3
4
Meaning
New target value
Set point
acknowledgment
New set point
Set point
acknowledgment
Conditions
Target val.- acknowledgment ="0" actual value can
be transferred
Set point acknowledgment ="1" Set point recognized
New set point ="0"
Target val.- acknowledgment ="0" New target value
can be transferred
The automatic assignment of the position target of the RPDO can be switched off with bit 15 from the R-PDO control object
(see page 21).
6.12.2 Position actual value
Position actual value.
Current drive position.
Object Description
Index
0x6064
Symbol
LAGE_IST
Length
4
Min
0x80000000
Object code
Variable
Max
0x7FFFFFFF
Data type
Integer32
Access rights
read
PDO mapping
yes
Data Description
Unit
mm (or inch)
Resolution
1 ⇔ 0.001 mm (or inch)
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