AXIS#.PL.MODPEN

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

AXIS#.PL.MODP1, AXIS#.PL.MODP2

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