Efficient Networks S120 manual P2604 Traversing direction Switch in compensation value

Function modules 7.9 Basic positioner

Table 7-4	The compensation value is switched in as a function of p2604
p2604	Traversing direction	Switch in compensation value
0	positive	none
	negative	immediately
1	positive	immediately
	negative	none

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Figure 7-15 Modulo offset

A modulo axis has an unrestricted traversing range. The value range of the position repeats itself after a specific value that can be parameterized (the modulo range or axis cycle), e.g. after one revolution: 360° -> 0°. The modulo range is set in parameter p2576, the offset is activated with parameter p2577. The modulo offset is undertaken at the setpoint end. This is provided with the correct sign via connector output r2685 (correction value) to appropriately correct the position actual value. EPOS initiates the activation of the correction via a rising edge of binector output r2684.7 (activate correction) (r2685 (correction value) and r2684.7 (activate correction) are already connected as standard with the corresponding binector/connector input of the position actual value conditioning). Absolute positioning details (e.g. in a motion command) must always be within the modulo range. Modulo offset can be activated for linear and rotary length units. The traversing range cannot be limited by a software limit switch.

With active modulo offset and the application of absolute encoders, as a result of potential encoder overflows, it must be ensured that there is an integer ratio v between the multiturn resolution and the modulo range.

The ratio v can be calculated as follows:

●1. Motor encoder without position tracking:

v = p421 * p2506 * p0433 * p2505 / (p0432 * p2504 * p2576)

●2. Motor encoder with position tracking for the measuring gearbox: v = p0412 * p2506 * p2505 / (p2504 * p2576)

●3. Motor encoder with position tracking for the load gear: v = p2721 * p2506 * p0433 / (p0432 * p2576)

●4. Motor encoder with position tracking for the load and measuring gearbox: v = p2721 * p2506 / p2576)

●5. Direct encoder without position tracking:

v = p0421 * p2506 * p0433 / (p0432 * p2576)

●6. Direct encoder with position tracking for the measuring gearbox: v = p0412 * p2506 / p2576)

254	Drive Functions
	Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4