819 Position Mode Function The parameter describes the positioning behavior in the Manual Data Input mode. 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 0001h Firmware version FIR-v2139-B1020888 Change history Description Bit 0 (Absolute/Relative positioning mode) Value = 1: The target position in the signal TARPOS defines the absolute target position for the motion. Value = 0. The target position in the signal TARPOS defines the relative target position for the motion related to the actual axis position. Bit 1 (Positive Modulo positioning direction) This command is only functional if the absolute position mode is activated (bit 0 = 1). Value 1: 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 shall be reached by the shortest path. Value 0 If bits 1 and 2 are both "0", the target position shall be reached by the shortest path. Bit 2 (Negative Modulo positioning direction) This command is only functional if the absolute position mode is activated (bit 0 = 1). Value= 1: 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 shall be reached by the shortest path. Value= 0 If bits 1 and 2 are both "0", the target position shall be reached by the shortest path.
819 Position Mode Function The parameter describes the positioning behavior in the Manual Data Input mode. 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 0001h Firmware version FIR-v2139-B1020888 Change history Description Bit 0 (Absolute/Relative positioning mode) Value = 1: The target position in the signal TARPOS defines the absolute target position for the motion. Value = 0. The target position in the signal TARPOS defines the relative target position for the motion related to the actual axis position. Bit 1 (Positive Modulo positioning direction) This command is only functional if the absolute position mode is activated (bit 0 = 1). Value 1: 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 shall be reached by the shortest path. Value 0 If bits 1 and 2 are both "0", the target position shall be reached by the shortest path. Bit 2 (Negative Modulo positioning direction) This command is only functional if the absolute position mode is activated (bit 0 = 1). Value= 1: 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 shall be reached by the shortest path. Value= 0 If bits 1 and 2 are both "0", the target position shall be reached by the shortest path.
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 0001h Firmware version FIR-v2139-B1020888 Change history
Description Bit 0 (Absolute/Relative positioning mode) Value = 1: The target position in the signal TARPOS defines the absolute target position for the motion. Value = 0. The target position in the signal TARPOS defines the relative target position for the motion related to the actual axis position. Bit 1 (Positive Modulo positioning direction) This command is only functional if the absolute position mode is activated (bit 0 = 1). Value 1: 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 shall be reached by the shortest path. Value 0 If bits 1 and 2 are both "0", the target position shall be reached by the shortest path. Bit 2 (Negative Modulo positioning direction) This command is only functional if the absolute position mode is activated (bit 0 = 1). Value= 1: 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 shall be reached by the shortest path. Value= 0 If bits 1 and 2 are both "0", the target position shall be reached by the shortest path.
