Commissioning
EL70x1156 Version: 4.4
Fig.182: Effect of the modulo tolerance window - modulo target position 0° in positive direction
Example
An axis is positioned to 0°, with the result that subsequently the actual position of the axis is exactly 0°. A
further modulo travel command to 360° in positive direction results in a full turn, with the subsequent modulo
position of the axis of once again being exactly 0°. If the axis comes to a stop somewhat in front of or behind
the target position for mechanical reasons, the next travel command does not behave as one would expect.
If the actual position lies slightly below 0° (see fig. Calibration with cam, below left), a new travel command to
0° in the positive direction leads only to a minimal movement. The deviation that arose beforehand is
compensated and the position is subsequently exactly 0° once more. If the position lies slightly above 0°,
however, the same travel command leads to a full revolution in order to reach the exact position of 0° again.
This problem occurs if complete turns by 360° or multiples of 360° were initiated. For positioning to an angle
that is significantly different from the current modulo position, the travel command is unambiguous.
In order to solve the problem, a "Modulo tolerance window" (Index 0x8020:0F) can be parameterized. This
ensures that small deviations from the position that are within the window do not lead to different axis
behavior. If, for example, a window of 1° is parameterized, in the case described above the axis will behave
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