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. 3 to 15 Reserved for future use by PROFIdrive profile.
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. 3 to 15 Reserved for future use by PROFIdrive profile.
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. 3 to 15 Reserved for future use by PROFIdrive profile.
