Index
(hex)
Sub
Pn No.
Name
Access
PDO Mapping
Default value
Units
Type
6067h 0 B2A Position Window RW No 0 Pos. units UINT
6068h 0 B2C Position Window Time RW No 0 ms UINT
6065h 0 B26 Following Error Window RW No 0 Pos. units UINT
6066h 0 B28 Following Window
Timeout
RW No 0 ms
60F4h 0 B84 Following Error Actual
Value
RO TPZD 0 Pos. units DINT
60FCh 0 B86 Position Demand
Internal Value
RO TPZD 0 Inc DINT
2400h* 0 BA0 Position Range Limit
Designation
RW No 0 - UINT
2401h 0 BA2 Target Position in Range RO TPZD 0 Pos. units DINT
2402h 0 BA4 Actual Position in Range RO TPZD 0 Pos. units DINT
607Bh* - Position Range Limit - - - - -
0 B42 Min. Position Range
Limit
RW No 80000000h Pos. units DINT
1 B44 Max. Position Range
Limit
RW No 7FFFFFFFh Pos. units DINT
14.3.4 Modulo Positioning
In motion control, there are two types of positioning that can be used for linear or rotary
axes:
n relative positioning
Each position is based on a previous position (regardless of the actual position of the
axis).
n absolute positioning
Each position is referenced to a reference or zero point.
Absolute positioning with multiturn encoders is generally used for axes with very long
strokes or for axes with "endless" positioning, such as rotary tables or conveyor belts.
However, if the application exceeds the maximum number of encoder revolutions, there is
also a risk of a significant positioning error for the axis with multiturn encoders.
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
PROFIdrive Position Mode > Modulo Positioning
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 509
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