66 Start-up Parameter setting examples – ACSM1Using position control with the CiA 402 Profile Position modeThis example shows how to configure a basic positioningapplication for an ACSM1 motion control drive. The start/stopcommands and reference are according to the CiA 402 ProfilePosition mode.The parameter setting example results in the following PDOconfiguration.Note: Rx PDO1 and Tx PDO1 are enabled by default.The target position and actual value are defined as 32-bit integervalues; both are scaled as defined by drive parameter settings.The target position (reference) and the position actual value arescaled as follows:PDO Word 1 Word 2, 3 LengthRx PDO1 6040hControl word607AhTarget position48 bitsTx PDO1 6041hStatus word6064hPosition actualvalue48 bitsDrive parameter Example setting60.05 POS UNIT (Position unit) m60.08 POS2INT SCALE 1001000 / 100 = 10.00 m60.05 POS UNITPhysical value60.08 POS2INT SCALESet point value
