AXIS#.PL.MODP2
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.MODP1. 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 MODP2 is beginning of range and MODP1 is the end of range.
-->AXIS1.PL.FB 500.000 [deg] -->AXIS1.PL.MODP1 360 -->AXIS1.PL.MODP2 0 -->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 |
|
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
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 |
|
Name |
ID |
Hex |
Data Type |
Access |
Units |
|---|---|---|---|---|---|
|
AXIS1.PL.MODP1 |
5909 |
1715 |
Signed32 |
Read/Write |
Position |
|
AXIS2.PL.MODP1 |
71445 |
1171 |
Signed32 |
Read/Write |
Position |
|
AXIS1.PL.MODP2 |
5910 |
1716 |
Signed32 |
Read/Write |
Position |
|
AXIS2.PL.MODP2 |
71446 |
1171 |
Signed32 |
Read/Write |
Position |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.PL.MODP1 |
5909 |
Signed32 |
Read/Write |
Position |
|
AXIS#.PL.MODP2 |
5910 |
Signed32 |
Read/Write |
Position |
| Fieldbus | Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCAT COE and CANopen | AXIS1.PL.MODP2 | 0x500C | 0x6 | DINT | - | Position | RW | False |
| AXIS2.PL.MODP2 | 0x510C | 0x6 | DINT | - | Position | RW | False |
