5-84 Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
actual position value
displayed (S-0-0051/S-0-0053)
actual position value
measured
position data in
modulo format
position data in
absolute format
S-0-0103
S-0-0051: position feedback 1 value
S-0-0053: position feedback 2 value
S-0-0103: Modulo value
Fig. 5-97: Actual position value for axis motion with constant velocity for
absolute and modulo format
The "modulo format" selection for actual position values is only
appropriate for rotary motors, because e mechanically unlimited travel
range is only possible for axes with rotary motors. The "modulo format"
therefore is only allowed for rotary motors, not for linear motors!
Note: The condition "rotary motor" for selecting "modulo format" is
checked when the drive progresses to the ready-for-operation
status. If the condition has not been fulfilled, an error is
signaled!
When using the modulo format, the following restrictions and conditions
have to be observed and complied with:
• Due to the firmware-internal conversion of absolute format to modulo
format, the allowed maximum velocity is as follows:
m
S
v
2
01030
max
−−
=
v
max
: maximum velocity or maximum angular velocity
S-0-0103: Modulo value
Fig. 5-98: Allowed maximum velocity for modulo format
WARNING
Possible property damage caused by errors
when controlling motors and moving parts!
⇒ The value in S-0-0091, Bipolar velocity limit value
mustn’t be higher than the allowed maximum velocity
for modulo format!
• In the case of encoders evaluated in absolute form, the mechanical
drive system, with the drive switched off, may as a maximum be
moved by a distance or angle corresponding to half the absolute
encoder range (S-0-0378/S-0-0379, Absolute encoder range of
motor encoder/optional encoder)! The actual position value after
switching on can otherwise be incorrect! This, however, cannot be
diagnosed on the controller side!
Modulo Format -
Requirements
Restrictions/Conditions for
"Modulo Format"
Courtesy of CMA/Flodyne/Hydradyne ▪ Motion Control ▪ Hydraulic ▪ Pneumatic ▪ Electrical ▪ Mechanical ▪ (800) 426-5480 ▪ www.cmafh.com
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