Siemens SIMATIC ET 200S - 4 DI 24 VDC High Feature digital electronic module (6 ES7 131-4 BD00-0 AB0)

1PosUniversal/Digital
7.6 Functions of the 1PosU
ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04
339
Control Signals: Relative Positioning
Address Assignment
Bits 0.7 to 0.4:
7 6 5 4 Bit
0 1 0 0
MODE 4 = Relative Positioning
Byte 0
Bit 3: SPEED (SPEED=0 is creep feed; SPEED=1 is rapid feed)
Bit 2: DIR_M
Bit 1: DIR_P
Bit 0: START
Bytes 1 to 3 Distance
(linear axis: 0 to 16 777 215; rotary axis: 0...16 777 215)
Feedback Signals: Relative Positioning
Address Assignment
Byte 0 Bit 3: SYNC
Bit 2: POS_ DONE
Bit 1: POS_ERR
Bit 0: POS_ACK
Bytes 1 to 3 Actual value
at incremental encoder (linear axis: 0 to 16 777 215; rotary axis: 0 to end of rotary
axis-1), at SSI encoder (0 to encoder range - 1)
Parameters: Relative Positioning
Parameters Meaning Value range Default setting
Drive
Switch-off
difference
You can change the switch-off difference with
JOB 3.
0 - 65 535 100
Switchover
difference
You can change the switchover difference
with JOB 4.
0 - 65 535 1000