In this case, further positioning is started during single positioning, whereby bit 5
(change set immediately) is set additionally in the control word. Then all existing
position sets are deleted and continued with the new position set.
4.8.1.3 Index positioning
A sub-mode is implemented for the pp-mode, by way up to 32 different positions
can be selected. The selection can be done e.g. by the index from the digital inputs
(defined by di21 / di22 / di25).
Positioning is started with bit 4 (new setpoint) in the control word. This can also be
done with a digital input (=> Chapter 7.1.9 Functions of the digital inputs).
An already active positioning can be stopped with bit 8 "stop" in the control word.
This function can also be activated with a digital input.
The positions can be linked with ps42, by way a sequence control system is possi-
ble.
The speed setpoint is preset to the appropriate ps39 index position with ps41 index
end speed. This value must always be lower than the profile speed setpoint during
the positioning (ps40 index speed).
The speed setpoint during positioning can always be reduced with ps32 (CiA
0x607F) max profile velocity.
There is no negative acknowledgement for the index positioning. This means, the
new position is always accepted. Thereby position setpoints are also possible,
which can not be reached with compliance of the current setpoint ramps. The index
positions must be corrected by way that the distance to the new set position can
also be reached with the valid ramps.
4.8.1.3.1 Single positioning
If value -1 "off" is set in ps42 next index, a position can be selected with ps46 start
index, which is then approached with the next start positioning command.
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