Description
This parameter defines the direction of an absolute motion task when the modulo position has been activated. For more details about absolute motion tasks, see .. For absolute motion tasks, you can only select a target position within the modulo range.
PL.MODPDIR Settings
| Value | Motion | Description |
|---|---|---|
|
0 |
Inside Range |
The motor moves in a negative direction if the target position of the absolute motion task is less than the current position. The motor moves in positive direction if the target position of the absolute motion task is greater than the current position. |
|
1 |
Positive |
The motor always moves in a positive direction relative to the target position of the absolute motion task. |
|
2 |
Negative |
The motor always moves in a negative direction relative to the target position of the absolute motion task. |
|
3 |
Shortest Distance |
The motor always moves the shortest distance in order to reach the target position within the modulo-range. |
General Information
|
Type |
R/W Parameter |
|
Units |
N/A |
|
Range |
0 to 2 |
|
Default Value |
0 |
|
Data Type |
Integer |
|
See Also |
N/A |
|
Start Version |
M_01-00-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | Yes |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | Yes |
| AKD SynqNet | Yes* |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
| Index/Subindex | Object Start Version |
|---|---|
| 3430h/0 | M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2307 | Byte | No |
| Sercos® III | 2 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 308 | 1 Byte | Integer |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
614 |
No | 8 bit | No | M_01-03-00-000 |
