How do I change Actual Position register value ?

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

P_NEW ( Reg. 4 )= yyy ( yyy wanted new position ) Read Reg. 36. ( CNTRL_BITS ) OR Reg 36 with 64 ( bit 6 ) Send reg. 36.

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

Example:

The actual position should be set to 1234.

Control register 36 is 48.

Reg. 36 = 48 OR 64 = 112.

Write:

P_NEW = 1234

CNTRL_BITS = 112

The result is if the motor is in Position mode:

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

The result is if the motor is in Passive mode:

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

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