AXIS#.IL.COMPTABLE.MODULOVALUE
Description
The cogging compensation/torque compensation table has a built in modulo that can be used independently of general position feedback modulo. This modulo is performed on the input to the table (assuming the range is from 0 to AXIS#.IL.COMPTABLE.MODULOVALUE).
This defines the modulo position (starting from 0) that the input will wrap back to the first table entry. If using modulo, this value should generally be the same as AXIS#.IL.COMPTABLE.MAX.
-
-
The units of AXIS#.IL.COMPTABLE.MODULOVALUE is determined by the value of AXIS#.UNIT.PROTARY or AXIS#.UNIT.PLINEAR
Example
To set the modulo value of the table to 360 degrees, the user would enter:
-->AXIS1.IL.COMPTABLE.MODULOVALUE 360
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-07-03-000 |
General Information
|
Type |
Read/Write |
|
Units |
Rotary: counts, rad, deg, custom units, 16-bit counts Linear: counts, mm, µm, custom units, 16-bit counts See Position Units for details. |
|
Range |
Depends on units. See Position Range for details. |
|
Default Value |
360.0 Degrees |
|
Data Type |
Float |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.IL.COMPTABLE.MODULOVALUE |
500ah |
1dh |
Signed32 |
Position |
- |
Read/Write |
No |
|
AXIS2.IL.COMPTABLE.MODULOVALUE |
510ah |
1dh |
Signed32 |
Position |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5842 |
1 |
5842 (0x16d2) |
AXIS1.IL.COMPTABLE.MODULOVALUE |
Signed32 |
Read/Write |
Yes |
|
71378 |
2 |
5842 (0x16d2) |
AXIS2.IL.COMPTABLE.MODULOVALUE |
Signed32 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.IL.COMPTABLE.MODULOVALUE |
5842 |
Signed32 |
Read/Write |
Position |
