PD6-E/-EB Profinet Online Manual

819 Position Mode

Function

DESCRIPTION!

Object description

Index 0333h
Object name Position Mode
Object Code VARIABLE
Data type UNSIGNED16
Savable yes, category: application
Access read / write
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v2139-B1020888
Change history

Description

Bits Meaning
0

Absolute/Relative positioning mode

= 1 Absolute positioning. The target position in the signal TARPOS defines the absolute target

position for the motion.

= 0 Relative positioning. The target position in the signal TARPOS defines the relative target

position for the motion related to the actual axis position.

1

Positive Modulo positioning direction (implementation optional).

This command is only functional if the axis type is a rotating modulo axis and the absolute position

mode is activated (MDI_MOD bit 0 = 1).

= 1 For a modulo Axis, the absolute position shall be reached by a motion in the positive

direction. If bit 1 and bit 2 are both 1, the target position of a modulo axis shall be reached by

the shortest path.

= 0 If bits 1 and 2 are both 0, the target position of a modulo axis shall be reached by the

shortest path.

2

Negative Modulo positioning direction (implementation optional).

This command is only functional if the axis type is a rotating modulo axis and the absolute position

mode is activated (MDI_MOD bit 0 = 1).

= 1 For a modulo Axis, the absolute position shall be reached by a motion in the negative

direction. If bit 1 and bit 2 are both 1, the target position of a modulo axis shall be reached by

the shortest path.

= 0 If bits 1 and 2 are both 0, the target position of a modulo axis shall be reached by the

shortest path.

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