4.8.1.4.3 Absolute / relative positioning
4.8.1.4.3.1 Selection in profile positioning mode with FIFO
Bit 6 "abs/rel" in the controlword determines if the position values shall be absolute
or relative positions.
4.8.1.4.3.2 Selection for index positioning
In ps43 index mode can be selected, if the position values shall be absolute or rel-
ative positions. Bit 6 "abs/rel" in the controlword has no meaning.
4.8.1.4.3.3 Relative positioning
For relative positioning there is a further differentiation:
If the respective relative positioning should be independent how exactly the last tar-
get was reached, the new position must be calculated relative to the current actual
position.
If, on the other hand, the sum of the relative positionings in relation to a reference
point should be as exact as possible, the new position must be calculated relative
to the current set position.
Relative positioning always occurs from the internal set position. Even
with multiple positioning, no errors can add up.
Relative positioning always occurs relative to the actual position
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