Functions, monitoring, and protective functions
9.4 Extended functions
Drive converter cabinet units
Operating Instructions, 07/07, A5E00288214A
367
Modulo offset
p 2576 ( 360000 )
( 0 )
p 2577
r 2665
1
0
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Figure 9-22 Modulo offset
A modulo axis has an unrestricted travel range. The range of values for the position repeats
following a particular parameterizable value (the modulo range and/or axis cycle), e.g.
following one revolution: 360° -> 0°. The modulo range is set in parameter p2576, the offset
is activated with parameter p2577. The modulo offset is undertaken at the setpoint end. This
is provided with the correct prefix via the connector output r2685 (offset value) in order to
offset the actual position value accordingly. Activation of the offset is initiated by a rising
edge of binector output r2684.7 (activate offset) of the "basic positioner" function module
(r2685 (offset value) and r2684.7 (activate offset) are already linked to the corresponding
binector/connector input of actual position value preparations). Absolute positioning details
(e.g. in a traversing block) must always be within the modulo range. The traversing range
cannot be restricted by software limit switches.
With active modulo offset and the application of absolute encoders, as a result of potential
encoder overflows, it must be ensured that there is an integer ratio v between the multiturn
resolution and the modulo range.
The ratio v can be calculated as follows:
1.
Motor encoder without position tracking:
v = p0421 x p2506 x p0433 x p2505 / (p0432 x p2504 x p2576)
2.
Motor encoder with position tracking for measuring gearbox:
v = p0412 x p2506 x p2505 / (p2504 x p2576)
3.
Motor encoder with position tracking for load gearbox:
v = p2721 x p2506 x p0433 / (p0432 x p2576)
4.
Motor encoder with position tracking for load and measuring gearbox:
v = p2721 x p2506 / p2576)
5.
Direct encoder without position tracking:
v = p0421 x p2506 x p0433 / (p0432 x p2576)
6.
Direct encoder with position tracking for measuring gearbox:
v = p0412 x p2506 / p2576)
With position tracking it is recommended to change p0412 or p2721.
Function diagram
FD 3635
Interpolator
FD 4010
Actual position value preparation
