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XAC80 Profibus-DP
®
Position and velocity values
when Class 2 (+VEL) is set
(Encoder  Master)
Byte 1 … 4 5 … 8
Bit 31-24 … 7-0 31-24 … 7-0
Position Velocity
For more information on the position value refer to the previous
Position value
parameter.
See also the
Exchange type
parameter.
The velocity value is expressed according to the setting in the
Velocity measure
unit parameter.
Preset value
when any Class is set
(Master  Slave)
Byte 1 2 3 4
Bit 31-24 23-16 15-8 7-0
Data 2 31 to 2 24 2 23 to 2 16 2 15 to 2 8 2 7 to 2 0
This parameter allows to set the encoder position to a Preset value. The Preset
function is meant to assign a desired value to a physical position of the encoder.
The chosen physical position will get the value set next to this item and all the
previous and following positions will get a value according to it. This function is
useful, for example, when the zero position of the encoder and the zero position
of the axis need to match. The preset value will be set for the position of the
encoder in the moment when the preset value is sent. The
Preset value is sent
by the Master to the Slave in
Data_Exchange
mode by setting bit 31 = “1” for 3
cycles.
The MSB of the preset value controls the preset function in the following way:
Normal operating mode: MSB = 0 (bit 31): the encoder will make no change in
the preset value.
Preset mode: MSB = 1 (bit 31): with the MSB = 1 the encoder accepts the
transferred value (bits 0 ... 30) as a preset value in binary code.
- If
Scaling function control
= DISABLED, then
the Preset value must be less than or equal to the Total hardware
resolution .
- If
Scaling function control
= ENABLED, then
the
Preset value
must be less than or equal to the
Total resolution
.
EXAMPLE
Preset value
to be set = 0000 1000hex
Current
Position value
= 0005 5000hex
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