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Manual PD4-C (USB)
12 Object directory description
Version: 1.4.1 / 22.07.2016 / FIR-v1626
221
RRO ( Request-Response Option)
!
WARNING
These options make the controller modify the object Controlword 6040
h
.
These bits determine the behaviour of the controlword 6040
h
Bit 5 ("new setpoint") - the
controller releases the bit itself. Therefore there is no need to set the bit to the value "0"
externally. After the bit was set to "0" by the controller, the bit 12 ("setpoint acknowledgement")
in the statusword 6041
is set to the value "0".
Bit 4
Bit 5
Definition
0
0
The functionality is as described in Setting move commands.
0
1
The controller releases autonomously the new setpoint bit as soon as
target is reached.
1
0
The controller releases autonomously the new setpoint bit as soon as
able to accept new set- point data.
1
1
Reserved
RADO (Rotary Axis Direction Option)
These Bits determine the rotation in the "Profile Position" mode.
Bit 7
Bit 6
Definition
0
0
Normal positioning similar to linear axis; If reaching or exceeding the
position range limits (607B
) the input value shall wrap automatically to
the other end of the range. Positioning can be relative or absolute. Only
with this bit combination, the movement greater than a modulo value is
possible.
0
1
Positioning only in negative direction; if target position is higher than
actual position, axis moves over the min position limit 607D
h
:01
h
to the
target position.
1
0
Positioning only in positive direction; if target position is lower than actual
position, axis moves over the max position limit 607D
h
:02
h
to the target
position.
1
1
Positioning with the shortest way to the target position.
Note
If the difference between actual value and target position in a 360°
system is 180°, the axis moves in positive direction.
60F4h Following Error Actual Value
Function
This object contains the current following error.
Object description
Index
60F4
h
Object Name
Following Error Actual Value
Object Code
VARIABLE