Start types
Start types
The “Positioning interface” offers different types of positioning. The following table contains all commands supported; these are divided into four groups.
Supported "Start types" of the "Positioning interface"
Name | Command | Group | Description |
|---|---|---|---|
ABSOLUTE | 0x0001 | Absolute positioning to a specified target position | |
RELATIVE | 0x0002 | Relative positioning to a calculated target position; a specified position difference is added to the current position | |
ENDLESS_PLUS | 0x0003 | Endless travel in the positive direction of rotation (direct specification of a speed) | |
ENDLESS_MINUS | 0x0004 | Endless travel in the negative direction of rotation (direct specification of a speed) | |
ADDITIVE | 0x0006 | Additive positioning to a calculated target position; a specified position difference is added to the last target position | |
ABSOLUTE_CHANGE | 0x1001 | Dynamic change of the target position during a travel command to a new absolute position | |
RELATIVE_CHANGE | 0x1002 | Dynamic change of the target position during a travel command to a new relative position (the current changing position value is used here also) | |
ADDITIVE_CHANGE | 0x1006 | Dynamic change of the target position during a travel command to a new additive position (the last target position is used here) | |
MODULO_SHORT | 0x0105 | Modulo positioning along the shortest path to the modulo position (positive or negative), calculated by the “Modulo factor” (Index 0x8020:0E) | |
MODULO_SHORT_EXT | 0x0115 | Modulo positioning along the shortest path to the modulo position; the “Modulo tolerance window” (Index 0x8020:0F) is ignored | |
MODULO_PLUS | 0x0205 | Modulo positioning in the positive direction of rotation to the calculated modulo position | |
MODULO_PLUS_EXT | 0x0215 | Modulo positioning in the positive direction of rotation to the calculated modulo position; the "Modulo tolerance window" is ignored | |
MODULO_MINUS | 0x0305 | Modulo positioning in the negative direction of rotation to the calculated modulo position | |
MODULO_MINUS_EXT | 0x0315 | Modulo positioning in the negative direction of rotation to the calculated modulo position; the "Modulo tolerance window" is ignored | |
MODULO_CURRENT | 0x0405 | Modulo positioning in the last direction of rotation to the calculated modulo position | |
MODULO_CURRENT_EXT | 0x0415 | Modulo positioning in the last direction of rotation to the calculated modulo position; the "Modulo tolerance window" is ignored | |
CALI_PLC_CAM | 0x6000 | Start a calibration with cam (digital inputs) | |
CALI_HW_SYNC | 0x6100 | start a calibration with cam and HW sync pulse (C-track) | |
SET_CALIBRATION | 0x6E00 | Manually set the terminal to “Calibrated” | |
SET_CALIBRATION_AUTO | 0x6E01 | Automatically set the terminal to “Calibrated” on the first rising edge on “Enable” | |
CLEAR_CALIBRATION | 0x6F00 | Manually delete the calibration |