BECKHOFF EL7037 - Manual (Page 146)

Commissioning
Name Com-
mand Group Description
ABSOLUTE 0x0001 Standard
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} 146]
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)
ADDITIVE 0x0006 Additive positioning to a calculated target position; a
specified position difference is added to the last
target position
ABSOLUTE_CHANGE 0x1001 Standard
Ext. [
} 148]
Dynamic change of the target position during a travel
command to a new absolute position
RELATIVE_CHANGE 0x1002 Dynamic change of the target position during a travel
command to a new relative position (the current
changing position value is used here also)
ADDITIVE_CHANGE 0x1006 Dynamic change of the target position during a travel
command to a new additive position (the last target
position is used here)
MODULO_SHORT 0x0105 Modulo
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} 149]
Modulo positioning along the shortest path to the
modulo position (positive or negative), calculated by
the “Modulo factor” (Index 8020:0E [
} 183])
MODULO_SHORT_EXT 0x0115 Modulo positioning along the shortest path to the
modulo position; the “Modulo tolerance
window” (Index 8020:0F [
} 183]) is ignored
MODULO_PLUS 0x0205 Modulo positioning in the positive direction of rotation
to the calculated modulo position
MODULO_PLUS_EXT 0x0215 Modulo positioning in the positive direction of rotation
to the calculated modulo position; the "Modulo
tolerance window" is ignored
MODULO_MINUS 0x0305 Modulo positioning in the negative direction of
rotation to the calculated modulo position
MODULO_MINUS_EXT 0x0315 Modulo positioning in the negative direction of
rotation to the calculated modulo position; the
"Modulo tolerance window" is ignored
MODULO_CURRENT 0x0405 Modulo positioning in the last direction of rotation to
the calculated modulo position
MODULO_CURRENT_EXT 0x0415 Modulo positioning in the last direction of rotation to
the calculated modulo position; the "Modulo tolerance
window" is ignored
CALI_PLC_CAM 0x6000 Calibration
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} 148]
Start a calibration with cam (digital inputs)
CALI_HW_SYNC 0x6100 start a calibration with cam and HW sync pulse (C-
track)
SET_CALIBRATION 0x6E00 Manually set the terminal to “Calibrated”
SET_CALIBRATION_AUTO 0x6E01 Automatically set the terminal to “Calibrated” on the
first rising edge on “Enable”
CLEAR_CALIBRATION 0x6F00 Manually delete the calibration
Supported "Start types" of the "Positioning interface"
ABSOLUTE:
The absolute positioning represents the simplest positioning case. A position B is specified and travelled to
from the start point A.
EL70x7 146 Version 1.0