AXIS#.PL.MODPDIR

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 Motion Tasks. For absolute motion tasks, you can only select a target position within the modulo range.

AXIS#.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.

The following figure shows movement for each AXIS#.PL.MODPDIR setting given the position range limits are 0° to 360°.

Examples

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 3

Default Value

0

Data Type

Integer

See Also

N/A

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.MODPDIR

500ch

01h

Unsigned8

-

-

Read/Write

No

AXIS2.PL.MODPDIR

510ch

01h

Unsigned8

-

-

Read/Write

No
EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

5911

1

5911 (0x1717)

AXIS1.PL.MODPDIR

Unsigned8

Read/Write

Yes

71447

2

5911 (0x1717)

AXIS2.PL.MODPDIR

Unsigned8

Read/Write

Yes
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.PL.MODPDIR

5911

Unsigned8

Read/Write

-