5-84
Motor, Mechanical Axis System, Measuring Systems
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
actual position value
displayed (S-0-0051/S-0-0053)
actual position value
measured
position data in
modulo format
position data in
absolute format
S-0-0103
S-0-0051:
position feedback 1 value
S-0-0053:
position feedback 2 value
S-0-0103:
Modulo value
Fig. 5-97:
Actual position value for axis motion with constant velocity for
absolute and modulo format
The "modulo format" selection for actual position values is only
appropriate for rotary motors, because e mechanically unlimited travel
range is only possible for axes with rotary motors. The "modulo format"
therefore is only allowed for rotary motors, not for linear motors!
Note:
The condition "rotary motor" for selecting "modulo format" is
checked when the drive progresses to the ready-for-operation
status. If the condition has not been fulfilled, an error is
signaled!
When using the modulo format, the following restrictions and conditions
have to be observed and complied with:
•
Due to the firmware-internal conversion of absolute format to modulo
format, the allowed maximum velocity is as follows:
ms
S
v
2
0103
0
max
−
−
=
v
max
:
maximum velocity or maximum angular velocity
S-0-0103:
Modulo value
Fig. 5-98:
Allowed maximum velocity for modulo format
WARNING
Possible property damage caused by errors
when controlling motors and moving parts!
⇒
The value in
S-0-0091, Bipolar velocity limit value
mustn’t be higher than the allowed maximum velocity
for modulo format!
•
In the case of encoders evaluated in absolute form, the mechanical
drive system, with the drive switched off, may as a maximum be
moved by a distance or angle corresponding to half the absolute
encoder range (
S-0-0378/S-0-0379, Absolute encoder range of
motor encoder/optional encoder
)! The actual position value after
switching on can otherwise be incorrect! This, however, cannot be
diagnosed on the controller side!
Modulo Format -
Requirements
Restrictions/Conditions for
"Modulo Format"
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
