Operating Modes
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
578
of 820
4.8
The counting of the position set values (Z118.3–) and the position actual values
(Z121.9–) occurs furthermore in the „normal“ format.
The conversion of the actual position to the modulo format must occur controller exter-
nal.
In order to establish the relationship between the normal absolute position format and
the modulo format, either a homing is necessary after switching on the controller or an
absolute encoder must be used whose absolute information is greater than the modulo
position.
Example for target mode 11:
Z118.20– Modulo value = 00140000
hex
= 20 revolutions
Z118.3– Position set value = 00221111
hex
in normal absolute format
Conversion of actual set position to modulo format:
SetPositionModulo = SetPositionAbsolute mod ModuloValue
= 00221111
hex
mod 00140000
hex
= 000E1111
hex
First positioning:
Z118.9– Target position = 00063333
hex
in modulo format
New absolute target position calculates itself via the shorter way to modulo target
Way to "right" (greater position set values):
WayRight = ModuloValue - SetPpositionModulo + TargetPositionModulo
= 00140000
hex
- 000E1111
hex
+ 00063333
hex
= 000C2222
hex
Way to "left" (less position set values):
WayLeft = SetPositionModulo - NewTargetPosition
= 000E1111
hex
- 00063333
hex
= 0007DDDE
hex
WayLeft < WayRight
Move left
New target position in normal absolute format:
TargetPositionAbsolute = SetPositionAbsolute - WayLeft
= 00221111
hex
- 0007DDDE
hex
= 001A3333
hex
Second positioning:
Z118.9– Target position = 00084444
hex
in modulo format
WayRight = 00084444
hex
- 00063333
hex
= 00021111
hex
WayLeft = 00140000
hex
- 00084444
hex
+ 00063333
hex
= 0011EEEF
hex
WayLeft > WayRight
Move right
New target position in normal absolute format:
TargetPositionAbsolute = SetPositionAbsolute + WayRight
= 001A3333
hex
+ 00021111
hex
= 001C4444
hex
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