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.
Industrial Ethernet Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.PL.MODPEN |
500ch |
0bh |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.PL.MODPEN |
510ch |
0bh |
Unsigned8 |
- |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5912 |
1 |
5912 (0x1718) |
AXIS1.PL.MODPEN |
Unsigned8 |
Read/Write |
Yes |
|
71448 |
2 |
5912 (0x1718) |
AXIS2.PL.MODPEN |
Unsigned8 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.PL.MODPEN |
5912 |
Unsigned8 |
Read/Write |
- |
