80
Manual – IPOSplus®
6
Modulo function
Position Detection and Positioning
6.7.4 Project planning
6.7.5 Project planning examples
Chain conveyor Step 1: Defining the output unit
The positions for a chain conveyor are specified in output units. A 360° rotation at the
gear unit output corresponds to the modulo output unit of 360°.
Step 2: Determining the SHELL parameters
SEW employees can read off the number of teeth in the gear unit from the SEW Tech-
nical Manual (DriveNet) or from the electronic nameplate (only for Hiperface
®
).
Definition of drive unit
• Gear unit and the additional gear make up the output unit 360°
• Determine the maximum target position in "Number of drive units"
• Determine 16 bit or resolution (encoder x modulo numerator) for 360°
↓
Determining the SHELL modulo parameters
• Modulo function P960 (select travel strategy)
• Modulo numerator P961
• Modulo denominator P962
• Modulo encoder resolution P963
Resources for determining the number of teeth in the gear unit:
• SEW Technical Manual
• SEW Wingear program to reduce the numerator/denominator factors
↓
Modulo range of representation and maximum output position
• Condition for the range of representation: Modulo encoder resolution x modulo numerator < 2
31
• Condition for maximum output position: = 2
31
/ (modulo encoder resolution × modulo numerator)
If this condition is not met, it can lead to positioning errors!
↓
Realization in the IPOS
plus®
program
• Specify setpoint position with the H454 ModTagPos variable: MOD.TAGPOS = k × 360° + 0 ... 360° = k
× 2
16
+ 0 ... (2
16
- 1)
• Read off the actual position in the H455 ModActPos variable: MOD.ACTPOS = ... + 0 ... 360° = ... + 0
... (2
16
- 1)
The system software reads the target position specified in ModActPos and then sets the high word
to 0.
The actual position ModuloActPos always moves between 0° and 360°!
Technical data
Gear unit type KA47B
Output speed [rpm] 19
Motor speed [rpm] 2000
Gear unit reduction ratio i 104.37
Motor type DY71S
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