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.

Fieldbus Information

EtherCAT CoE and CANopen

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

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.IL.COMPTABLE.MODULO

5841

16D1

Unsigned8

Read/Write

-

AXIS2.IL.COMPTABLE.MODULO

71377

116D

Unsigned8

Read/Write

-

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.IL.COMPTABLE.MODULO

5841

Unsigned8

Read/Write

-