O_P

ASCII - Command

O_P

 

 

Syntax Transmit

O_P [data]

 

Syntax Receive

O_P

Available in

 

Type

Variable rw

MMI

Yes

ASCII Format

Integer32

CANBus Object Number

35BE (hex)

DIM

-

PROFIBUS PNU

1790 (dec) IND = 0000xxxx (bin)

Range

long int

DPR

190 (dec)

Default

-

 

Opmode

All

Data Type Bus/DPR

Integer32

Drive State

-

Weightning

 

Start Firmware

1.20

 

Configuration

No

Revision

1.3

Function Group

Position Controller

EEPROM

No

Short Description

Target Position/Path for Motion Task 0

Description

The command O_P can be used to define the target position for motion block 0 (direct motion block). Depending on the type of motion task (absolute or relative) this parameter will be interpreted as an absolute target position or a relative path movement. The scaling of the position depends on the PGEARI, PGEARO, PRBASE and O_C parameters.

  1. Bit 13 of the motion block control word = 0 (given in internal units)
    The position /path is given in counts.
    Scaling: PRBASE=20 -> 1048576 increments per turn
    PRBASE=16 -> 65536 increments per turn
  2. Bit 13 of the motion block control variable is = 1 (taking the resolution into account)
    The position is converted according to the following formula:
    Position [increments] = O_P * PGEARO / PGEARI
O_P 1:

If the resolution is set to 1 (PGEARI=PGEARO) then internal units (counts) will be used for the speed, position and acceleration.