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Table 9- 17
Modulo offset
Figure 9-40
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. The offset is activated using 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 position actual value conditioning). Absolute positioning date (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:
● Motor encoder without position tracking:
v = (p0421 x p2506 x p0433 x p2505) / (p0432 x p2504 x p2576)
● Motor encoder with position tracking for measuring gear:
v = (p0412 x p2506 x p2505) / (p2504 x p2576)
● Motor encoder with position tracking for load gear:
v = (p2721 x p2506 x p0433) / (p0432 x p2576)
● Motor encoder with position tracking for load and measuring gear:
v = (p2721 x p2506) / p2576
● Direct encoder without position tracking:
v = (p0421 x p2506 x p0433) / (p0432 x p2576)
● Direct encoder with position tracking for measuring gear:
v = (p0412 x p2506) / p2576
With position tracking it is recommended to change p0412 or p2721.
Enclosed Drives
Operating Instructions, 12/2018, A5E36652151A
Activation of compensation value depending on p2604
p2604 (start direction)
0
1
Modulo offset
Functions, monitoring and protective functions
Travel direction
Activation of the compensation value
positive
negative
positive
negative
9.4 Extended functions
None
immediately
immediately
None
653
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