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168 • Reference Commands for Move Mode
Setpoint commands
3.2.4.1.5
MOVE_REL (0x06)
Starts a positioning process. This command immediately deletes the
"On_Target" bit and sets that bit when the target position is reached. This
command is accepted only when the last positioning process has been
completed and the "On_Target" bit has been set. This command calculates the
target position relative to the last accepted target (if available), or to the
current position. The acceleration and velocity specified by SET_ACC (0x22)
and SET_VELOCITY (0x25) are used for positioning commands.
Byte
MB0
MB1
MB2
MB3
MB4
MB5
Byte
MB0
MB1
MB2
MB3
MB4
MB5
Request
7
6
5
4
2
2
2
2
0x40
T
0x06
Position (LSB)
Position
Position (MSB)
Antwort
7
6
5
4
2
2
2
2
0x40
T
Return Code
0x06
Reserved
Reserved
Reserved
3
2
1
0
2
2
2
2
-
3
2
1
0
2
2
2
2
WAGO-I/O-SYSTEM 750
I/O Modules
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