AXIS#.PL.MODP1

Description

This parameter is either the beginning or the end of the modulo range, depending on whether this value is smaller or larger than AXIS#.PL.MODP2. If you set AXIS#.PL.MODP1 equal to AXIS#.PL.MODP2, an error message occurs.

Condition	Beginning of the modulo-range	End of the modulo-range
AXIS#.PL.MODP1 < AXIS#.PL.MODP2	AXIS#.PL.MODP1	AXIS#.PL.MODP2
AXIS#.PL.MODP2 < AXIS#.PL.MODP1	AXIS#.PL.MODP2	AXIS#.PL.MODP1

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	Rotary: counts, rad, deg, custom units, 16-bit counts See Position Units for details.
Range	Depends on units. See Position Range for details.
Default Value	0
Data Type	Float
See Also	AXIS#.PL.MODP2, AXIS#.PL.MODPEN
Stored in Non-Volatile Memory	Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.PL.MODP1	500ch	05h	Signed32	Position	-	Read/Write	No
AXIS1.PL.MODP2	500ch	06h	Signed32	Position	-	Read/Write	No
AXIS2.PL.MODP1	510ch	05h	Signed32	Position	-	Read/Write	No
AXIS2.PL.MODP2	510ch	06h	Signed32	Position	-	Read/Write	No

EtherNet/IP

ID	Instance	Attribute	Name	Data Type	Access	User Mappable
5909	1	5909 (0x1715)	AXIS1.PL.MODP1	Signed32	Read/Write	Yes
71445	2	5909 (0x1715)	AXIS2.PL.MODP1	Signed32	Read/Write	Yes
5910	1	5910 (0x1716)	AXIS1.PL.MODP2	Signed32	Read/Write	Yes
71446	2	5910 (0x1716)	AXIS2.PL.MODP2	Signed32	Read/Write	Yes

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.PL.MODP1	5909	Signed32	Read/Write	Position
AXIS#.PL.MODP2	5910	Signed32	Read/Write	Position