Description
A value of 0 disables the modulo-position and a value of 1 enables the modulo-position feature. The modulo-position feature can be used for circular applications such as round tables.
The position loop of the drive uses a linear position variable but the data-exchange between the user and the drive uses the modulo-position calculation in order to convert values from linear format into modulo format and vice versa.
The following figure shows the interface between the user and the drive for AXIS#.PL.MODPEN=1:
Examples
Code
Axis 1 position is modulo’d to 0-360 where MODP1 is beginning of range and MODP2 is the end of range.
-->AXIS1.PL.FB 500.000 [deg] -->AXIS1.PL.MODP1 0 -->AXIS1.PL.MODP2 360 -->AXIS1.PL.MODPEN 1 -->AXIS1.PL.FB 140.000 [deg]
Context
For more information see Modulo Position .
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
N/A |
|
Range |
0 to 1 |
|
Default Value |
0 |
|
Data Type |
Integer |
|
See Also |
|
|
Stored in Non Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
| Fieldbus | Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCAT COE and CANopen | AXIS1.PL.MODPEN | 0x500C | 0xB | USINT | - | - | RW | False |
| AXIS2.PL.MODPEN | 0x510C | 0xB | USINT | - | - | RW | False |
