Operation with modulo

When the Modulo function is active, data sets are stored and read out. This allows the modulo position to be reconstructed. The range of the encoder is subdivided into four equal ranges. A quarter range comprises 1024 revolutions.

Saving the data sets

Data for the reconstruction of the modulo position is stored:

• At each change from one 1024 revolution to the next 1024 revolution
• With each change of the EtherCAT state from SaveOP to PreOp

Reading out the data sets

If the EtherCAT state changes from Boot to Init, the data is read out.