Technical Manual PD4-E-M (EtherCAT)10 Description of the object dictionaryDescriptionThe subindices have the following function:• 00h: Value = "n", where "n" is the number of existing feedbacks.• nh: Subindex "n" contains the number of revolutions of the output shaft for the correspondingfeedback.Subindex 01h always corresponds to the first (and always existing) sensorless feedback.The feed constant of feedback "n" is calculated as follows:Feed Constant = Feed (60E9h:nh) / Driving Shaft Revolutions (60EEh:nh)60F2h Positioning Option CodeFunctionThe object describes the positioning behavior in Profile Position mode.Object descriptionIndex 60F2hObject name Positioning Option CodeObject Code VARIABLEData type UNSIGNED16Savable yes, category: applicationAccess read / writePDO mapping RX-PDOAllowed valuesPreset value 0001hFirmware version FIR-v1446Change history Firmware version FIR-v1614: "Savable" entry changed from "no" to"yes, category: application".DescriptionOnly the following bits are supported at the present time:RADO [2]MS RESERVED [3]15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0RRO [2] CIO [2] REL. OPT. [2]IP OPTION [4]REL. OPT. (Relative Option)These bits determine the behavior with relative rotating movement in "Profile Position" mode ifbit 6 of controlword 6040h = "1" is set.Bit 1 Bit 0 Definition0 0 Position movements are executed relative to the previous (internalabsolute) target position (each relative to 0 if there is no previous targetposition)0 1 Position movements are executed relative to the preset value (or output)of the ramp generator.1 0 Position movements are performed relative to the current position (object6064h).Version: 1.0.1 / FIR-v1748 283
