AXIS#.IL.COMPTABLE.MODULO
Description
The cogging compensation/torque compensation table has a built in modulo that can be used independently of the 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 whether or not to apply the modulo operation to the input. For Rotary motors it is suggested to leave this feature on.
When AXIS#.PL.FB is equal to AXIS#.IL.COMPTABLE.MAX, the output of the table will be equal to the last table entry.
Example
To disable the modulo behavior of the table for axis 1, the user would enter:
-->AXIS1.IL.COMPTABLE.MODULO 0
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-07-03-000 |
General Information
|
Type |
Read/Write |
|
Units |
N/A |
|
Range |
0 to 1 |
|
Default Value |
1 (Enabled) |
|
Data Type |
Integer |
|
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.IL.COMPTABLE.MODULO |
500ah |
1ch |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.IL.COMPTABLE.MODULO |
510ah |
1ch |
Unsigned8 |
- |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5841 |
1 |
5841 (0x16d1) |
AXIS1.IL.COMPTABLE.MODULO |
Unsigned8 |
Read/Write |
Yes |
|
71377 |
2 |
5841 (0x16d1) |
AXIS2.IL.COMPTABLE.MODULO |
Unsigned8 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.IL.COMPTABLE.MODULO |
5841 |
Unsigned8 |
Read/Write |
- |
