| ASCII - Command | O_P | |||
| Syntax Transmit | O_P [data] | |||
| Syntax Receive | O_P | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer32 | CANBus Object Number | 35BE (hex) | |
| DIM | - | PROFIBUS PNU | 1790 (dec) IND = 1 (dec) | |
| Range | long int | DPR | 190 (dec) | |
| Default | - | |||
| Opmode | All | Data Type Bus/DPR | Integer32 | |
| Drive State | - | Weighting | ||
| Start Firmware | 1.20 | |||
| Configuration | No | Last Change of this Object | 1.3 | |
| Function Group | Position Controller | EEPROM | No | |
| Short Description | Target Position/Path for Motion Task 0 | |||
Description
| The command O_P can be used to define the target position for motion block 0 (direct motion block). Depending on the type of motion task (absolute or relative) this parameter will be interpreted as an absolute target position or a relative path movement. The scaling of the position depends on the PGEARI, PGEARO, PRBASE and O_C parameters. 1. Bit 13 of the motion block control word = 0 (given in internal units) The position /path is given in counts. Scaling: PRBASE=20 -> 1048576 increments per turn PRBASE=16 -> 65536 increments per turn 2. Bit 13 of the motion block control variable is = 1 (taking the resolution into account) The position is converted according to the following formula: Position [increments] = O_P * PGEARO / PGEARI Note: If the resolution is set to 1 (PGEARI=PGEARO) then internal units (counts) will be used for the speed, position and acceleration. |