Baumuller b maXX BM5800 - Page 523

Description of the Software Modules and Parameters
Parameter manual b maXX BM5800
Document No.: 5.16029.03
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of 814
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121.17 Modulo position actual value
The Modulo position actual value is the result of the conversion of the position actual val-
ue (actual value of the encoder for position control; see Z18.9–) using the parameters
Z121.12– to Z121.16–.
The function of this parameter is activated with bit 4 of Z121.1– Positioning general
mode.
The initialization of the Modulo position actual value is executed at each encoder initial-
ization. The input value of the gear is set. based on parameter Z121.12–. This value is
multiplied with the gear factor (Z121.13– and Z121.14–) and results in the start value for
the position at encoder output. The value at the gear output is multiplied with Z121.16–
Rotation position resolution in consideration of Z121.15– Modulo revolutions.
Tho Modulo position actual value can be shifted with the Z121.26– Offset modulo posi-
tion actual value.
The parameter has the following characteristics:
m Update with the cycle time of the fieldbus task Z1.10–.
m No control-specific use in the controller.
m A homing in the mode "Referencing without setting the home position" has no influ-
ence on the parameter.
m A homing in the mode "Referencing with setting the home position" (Z120.2–- Mode
bit 4 = 0) enables a reinitialization of Modulo position actual value. The base refer-
ring to the calculation into the new modulo position actual value and of the M0 offset
are not considered!
Figure 137: Simplified presentation of the calculation of the Modulo position actual value
NOTE!
At the use of the modulo position actual value the Z106.3– Encoder options bit 7
"Consideration of the value range of the encoder at addition of the M0 offset" and
Bit
10 "Addition of the revolutions of the overflow counter to the position actual value
at encoder initialization" must be switched off!