ASCII - Command POSCNFG    
Syntax Transmit POSCNFG [Data]    
Syntax Receive POSCNFG <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer8   CANBus Object Number 35CF (hex)
DIM -   PROFIBUS PNU 1807 (dec) IND = 1 (dec)
Range 0, 1, 2   DPR 207 (dec)
Default 0    
Opmode 8   Data Type Bus/DPR Integer8
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.20    
Configuration Yes   Last Change of this Object 1.8
Function Group Position Controller   EEPROM Yes
Short Description Axes Type


Use the axis type to select whether the axis is treated as a linear or rotary axis. This variable does not imply that the motor is a linear or rotary motor, but instead, affects the way the software limit switches are used by the firmware. The software limit switches are treated in different ways, depending on the selection. The possible settings are:
POSCNFG=0 Linear Axes Axes with a limited range of movement.
The zero position for position tracking is fixed by a homing operation.
With this setting, a set reference point is a precondition to be able to implement motion blocks.
After the homing movement (setting the reference point) has been completed, the position is continuously tracked for the control loop, and remains valid until the amplifier is switched off.
POSCNFG=1 Rotary Axes A rotary axes (with eather linear or rotary motion) is an axis with unlimited travel. The software limit-switches
have no significance in this case. A rotary axis always makes a relative movement, even if the tasks are entered as absolute ones. The actual position is set to zero with every start. A reference point is not required.
POSCNFG=2 Modulo Axis Axes with a limited range of movement.
The minimum position is SRND and the maximum position is ERND-1.
If the maimum position ERND-1 is reached, it automatically switches over to SRND. The absolute target positions have to be in the defined range. If a motion task is startet, which has a absolute position outside the range, a warning "n08" is displayed (wrong motion task). Relative moves are calculated in a way, that the target position always is in the defined range.
A positioning in a axes like this, gives two possibilities of direction to the target position. DREF gives the possibility to restrict the direction. This axes type also needs a homing move.