Confirms that the target position has been reached / held. General or specific for an input with input function 4 - "Timed Motion Absolute".
Subindex |
Type |
Access |
Description |
02h |
integer32 |
R/W |
0: Last target position reached (independent of input). The comparison position here is the position according to the position option code (object 60F2h.0h). With 60F2h.0h = 2 ("use actual value"), this setting is not useful as this condition is always fulfilled. 1-8: Number of the input (IN1-IN10) - Compare with the target position from the last movement that was triggered by this input. This position can also be read out in the "Result 1" register of the input. 255: as 1-10, but bit-coded feedback: Which IN position is currently being held? See example below. |
05h |
integer32 |
R/W |
right position window: |
06h |
integer32 |
R/W |
left position window: |
NOTE: The drive status can also be taken into account via output function 6 - position and status feedback.
Description for subindex 02h = 255 bit-coded feedback
For bit-coded output, the output functions for OUT1, OUT2, ... must be parameterized in the same way. Example:
Index |
Subindex |
Value |
3611h |
01h |
4 |
3611h |
02h |
255 |
3612h |
01h |
4 |
3612h |
02h |
255 |
If IN1 to IN3 are parameterized for function 4 - Timed Motion Absolute, OUT1 and OUT2 jointly provide feedback on the currently held position:
OUT1 |
OUT2 |
Status |
low |
low |
None of the positions from IN1-3 are currently held |
high |
low |
The position from IN1 has been reached / is being held |
low |
high |
IN2 has been reached / is being held |
high |
high |
IN3 has been reached / is being held |
NOTE: If more than 2 outputs are available, OUT1/2/3 can be parameterized as above and provide up to IN8 as feedback.
