Manual – IPOSplus®
77
6
Modulo function
Position Detection and Positioning
6.7.3
Travel strategies
When the modulo function is activated, a number of travel strategies can be used for po-
sitioning. The travel strategy for referencing is dependent on this setting.
Referencing
Reference travel is started in the same way as for referencing without the modulo
function. When the modulo function is activated, the H455 MOD.ACTPOS variable is
referenced.
If a reference offset is specified in P900, it is interpreted as being in the output unit
scaling (2
16
= 360°).
Once reference travel is complete, the current target position H454 MOD.ACTPOS is
set to the actual value MOD.ACTPOS (see section "Referencing").
ACTPOS.MOT H511 is not referenced.
Positioning
The travel strategy for positioning is selected via the SHELL parameter 960 Modulo
function. The modes can be changed using an IPOS
plus®
program with the MOVILINK
command (see section "User interface"). The examples refer to the selected resolution
(2
16
/360°).
A motor encoder has been entered as the IPOS
plus®
encoder (P941 Source actual po-
sition = MOTOR ENC. (X15)).
"Short distance"
Modulo mode "Short distance" (P960 = SHORT) – standard setting
Starting from the current actual position H455 MOD.ACTPOS, the system calculates the
shortest route to the required target position H454 MOD.TAGPOS. The direction of ro-
tation is selected on the basis of the shortest route.
Target position that can be represented:
H454 MOD.TAGPOS = k × 360° + 0 ... 360° = k × 2
16
+ 0 ... (2
16
- 1)
477225739
1. Actual position prior to positioning
2. Definition of target position
3. Actual position after positioning
Modulo actual position
Modulo target position
Modulo actual position
P
i
f
kVA
Hz
n
P
i
f
kVA
Hz
n