19．EtherNet/IP COMMUNICATION
(7) Positioning option code (60F2h)
Set the profile position mode. The description of this object is as follows.
00b: The positioning is performed with the relative position from the internal absolute
target position.
01b: The positioning is performed with the relative position from Position demand
actual value (Class ID: 64h, Ins ID: 60FCh, Attr ID: 0). (Not supported) (Note)
10b: The positioning is performed with the relative position from Position actual value
(Class ID: 64h, Ins ID: 6064h, Attr ID: 0). (Not supported) (Note)
11b: reserved
00b: New values of Target position (Class ID: 64h, Ins ID: 607Ah, Attr ID: 0), Profile
velocity (Class ID: 64h, Ins ID: 6081h, Attr ID: 0), and Acceleration are promptly
applied.
01b: The current positioning continues to reach the target position. Then new values
of Target position (Class ID: 64h, Ins ID: 607Ah, Attr ID: 0), Profile velocity
(Class ID: 64h, Ins ID: 6081h, Attr ID: 0), and Acceleration are applied. (Not
supported) (Note)
10b: reserved
11b: reserved
00b: The servo motor rotates to the target position in a direction specified with a sign
of the position data.
01b: The servo motor rotates in the address decreasing direction regardless of the
sign of the position data.
10b: The servo motor rotates in the address increasing direction regardless of the
sign of the position data.
11b: The servo motor rotates from the current position to the target position in the
shorter direction. If the distances from the current position to the target position
are the same for CCW and CW, the servo motor rotates in the CCW direction.
This is not supported by the driver.
(8) Following error actual value (60F4h)
Following error actual value
The droop pulses are returned.
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