Set Position

Description

Contrary to the other motion functions, this function does not impact the physical pulse outputs of the channel, and does not generate any motion profiles.

Like the homing function, it defines an origin and a reference position of the axis by assigning an absolute coordinate to the current position of the axis and setting to 1 the channel "REFERENCED" status bit.

This function can only be used when the axis is in STANDSTILL state.

Physical Inputs/Output

Input/Output	Description
Counter_Clear output	To be connected to the corresponding input of the drive. When the Counter_Clear output is enabled, the Set Position function also orders the drive to reset its internal counter.

Configuration Parameters

Parameter	Valid Values
Homing I/O Settings	Value 0: No I/O used (Default) Value 1: With Counter_Clear Output Value 2: With Counter_in_Position Input: not used with SetPosition command.

Representation in FBD

Representation:

Representation in LD

Representation:

WARNING

UNINTENDED APPLICATION BEHAVIOR-COMMAND SENT ON EACH PLC CYCLE

Commands will be sent on every PLC cycle if EN is set to 1.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Representation in IL

Representation:

(*BYTE*) := SETPOSITION (CH := (*ANY_IODDT*), POSITION := (*DINT*));

Representation in ST

Representation:

SETPOSITION (CH := (*ANY_IODDT*), POSITION := (*DINT*)) ST (*BYTE*)

Command example using the WRITE_CMD command mechanism in ST representation:

if (SetPos = True) then  %CH0.1.0.CMD_CODE := 6;  %CH0.1.0.TGT_POSITION := 50000; WRITE_CMD(%CH0.1.0); SetPos := False; end_if;

Command Specific Parameters

Parameter	Valid Values
Position (in Pulses)	- 2,147,483,648 to 2,147,483,647 (Enclosed between SW Low Limit and SW High Limit)