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11.8
[Positioning option code (Obj. 60F2h)]
[Positioning option code (Obj. 60F2h: 00h)]
Data Type
Access
U16
RW
Supported firmware version
ECT
A5
Description
Set the following conditions of the profile position mode (pp).
Bit
Description
0 to 1
00b: Operates at the relative position determined by the internal absolute target position.
01b: Operates at the relative position determined by [Position demand actual value (Obj. 60FCh)]. (not supported)
10b: Operates at the relative position determined by [Position actual value (Obj. 6064h)]. (not supported)
11b: reserved
2 to 3
00b: Immediately reflects new information including [Target position (Obj. 607Ah)], [Profile velocity (Obj. 6081h)], and
Acceleration.
01b: Continues positioning, and reflects new information including [Target position (Obj. 607Ah)], [Profile velocity
(Obj. 6081h)], and Acceleration when reaching the target position. (not supported)
10b: reserved
11b: reserved
4 to 5
Reserved
6 to 7 (not
00b: Rotates to the target position in the direction specified with the sign of the position data.
supported)
01b: Rotates in the address decreasing direction regardless of the sign of the position data.
10b: Rotates in the address increasing direction regardless of the sign of the position data.
11b: Rotates in the direction with the shorter distance from the current position to the target position.
If the distance from the current position to the target position is the same in the CCW and CW directions, the servo
motor rotates in the CCW direction.
8 to 15
Reserved
11 Position Control Function Objects
156
11.8 [Positioning option code (Obj. 60F2h)]
Mapping
Default
RxPDO
0000h
Range
Units
0000h (fixed)
Save
Parameter
Possible
[Pr. PT03.2]
Defined value
00b
00b
0
00b
0
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