Like function 4, but relative/consecutive adding positioning
Subindex |
Type |
Access |
Description |
03h |
integer32 |
R/W |
Result register 1 : Last used target position absolute in internal position units [increments. This value is used as a comparison value for output function 4 - Positioning feedback. |
04h |
integer32 |
R/W |
Result register 2 : Number of movement commands triggered |
05h |
integer32 |
R/W |
Time delay in milliseconds |
06h |
integer32 |
R/W |
Target speed |
07h |
integer32 |
R/W |
Profile acceleration / acceleration value |
08h |
integer32 |
R/W |
Target position relative, taking into account 60F2h.0h position option code |
09h |
integer32 |
R/W |
Profile deceleration / braking value |
0Ah |
integer32 |
R/W |
Max Current / Torque limitation |
NOTE: For continuous relative movements (e.g. always 180° forwards), 60F2h.0h = ...0 (relative to the last internal target position) should be used. This ensures that the difference between the exact target position and the current actual position resulting from the control accuracy does not add up to a relevant total error.
NOTE: After positioning mode is switched on, the current actual position is always specified as the initial value for relative positioning. A home position is usually approached via absolute positioning, input function 4 - Timed Motion Absolute.
