Start types
Use the codes given in the following table to specify the start type via the "Start type" process data.
Start type | Code | 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) |
MODULO_SHORT | 0x0105 | Modulo positioning along the shortest path to the modulo position (positive or negative), calculated by the "Modulo factor" (index 0x8040:0E) |
MODULO_PLUS | 0x0205 | Modulo positioning in the positive direction of rotation to the calculated modulo position |
MODULO_MINUS | 0x0305 | Modulo positioning in the negative direction of rotation to the calculated modulo position |
CALI_PLC_CAM | 0x6000 | Start a calibration with cam (digital inputs) |
CALI_ON_BLOCK | 0x6200 | Start of a calibration "on block" |
CALI_SET_POS | 0x6E00 | Set as calibrated, do not change the position |
CALI_CLEAR_POS | 0x6F00 | Delete calibration bit |