If the position scaling is set to 1 revolution = 16 Bit = 65536 (co03 = 16), the rotary
table range (ps19 (CiA 0x607B [2]) max position range limit – ps18 (CiA 0x607B
[1]) min position range limit) is calculated to:
1.095.387,429
The decimal places must be omitted, since the rotary table value range can only be
entered in whole numbers. The rotary table range ps19 … ps18 is therefore
1,095,387.
Due to this inaccuracy, an error adds up if the drive runs endlessly in one direction.
After 117 motor revolutions the real position difference is 117 * 65536 = 7667712
According to the definition of the rotary table area (by the rounding) the position dif-
ference after 7 revolutions should be = 7 * 1,095,387 = 7667709.
The difference between the real rotary table position after 7 rotary table rotations
is: 7667712 - 7667709 = 3 increments.
A correction with 3 increments must be done after 7 revolutions at the rotary table.
This results in the setting ps23 = 7 and ps24 = 3
The higher the position resolution (co03) is selected, the lower the error and thus
the correction value. Therefore at least co03 = 16 => 1 revolution corresponds to
65536 should be used.
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