4.8.1.4.4 Relative to zero
In the position mode "relative to zero“ the motor should stop in a defined position
within one motor revolution (e.g. for tool change).
Position value 0 corresponds to the zero signal of the encoder.
The selection of such a defined position index shall be done from a constant mo-
tion.
The setpoint speed (profile speed) of this positioning (ps30 (CiA 0x6081) profile ve-
locity or ps40 index speed) must be higher than the setpoint speed at the start of
the positioning.
The value range for ps39 index position must be within a positive motor revolution
(0…65536).
A final speed is not permitted (ps41 index end speed / or ps31 0x6082end velocity
= 0).
4.8.1.4.5 Relative to enc A with gear
Positioning of any constant speed setpoint to the absolute position of encoder A
within one revolution.
Encoder A can be installed in front of a gear.
The distance is defined by the ramps (e.g. tool change).
The gear factor in ec24 and ec25 is considered.
The target position is preset exactly as in ru38[3] gearless pos low.
The permissible value range is 0 … 65535.
4.8.1.4.6 Round table positioning
A positioning over 360° is possible for round table positioning or similar. Positions
on this cycle can be appraoched from both directions. The referencing can be mon-
itored at a non even-numbered gear factor.
The definition of the value range of the round table occurs according to the general
set- / actual position limits and is described in chapter 6.5.1 Position values.
Also the cyclic referencing is possible in all position-controlled modes and is de-
scribed in chapter 4.8.4 Cyclic referencing.
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