How do I change Actual Position register value ?

If you want to change the actual position to a certain value it has to be done like this:

P_NEW ( Reg.163 )= yyy ( yyy wanted new position )

Read Reg. 36. ( CNTRL_BITS ) OR Reg 36 with 1024 ( bit 10 ) Send reg. 36.

Result afterwards: P_SOLL=yyy ( Reg. 3 ) P_IST=yyy ( Reg. 10 ) P_SIM=16 x yyy ( Reg. 8 )

Example:

The actual position should be set to 1234.

Control register 36 is 3.

Reg. 36 = 3 OR 1024 = 1027.

Write:

P_NEW = 1234

CNTRL_BITS = 1027

The result is if the motor is in Position mode:

P_SOLL=1234 ( Reg. 3 ) P_IST=1234 ( Reg. 10 ) P_SIM=19744 ( Reg. 8 )

The result is if the motor is in Passive mode:

P_SOLL=1234 ( Reg. 3 ) P_IST=1234 ( Reg. 10 ) P_SIM=0 ( Reg. 8 )

If the mode is changed to Position mode again, the P_SIM=19744.