Drive encoder modulo range (P-AXIS-00528)

P-AXIS-00528

Drive encoder modulo range

Description

If an encoder is connected to the drive which delivers a modulo position, the NC has to handle the encoder overflow. To do this the encoder range (number of different positions delivered by the encoder) of the encoder has to be set up in this parameter.

Example of encoder with 16-bit resolution:

The encoder delivers a total of 216 = 65536 different positions (0… 65535), so the parameter antr.drive_encoder_modulo_range must be set to 65536.

This parameter is inactive if set to 0. In this case the default setting is used for the specific drive type.

Parameter

antr.drive_encoder_modulo_range

Data type

UNS32

Data range

0, 512 … MAX(UNS32)

Axis types

T, R, S

Dimension

T: increments

R,S: increments

Default value

0

Drive types

SERCOS, Lightbus,CANopen, RT-Ethernet, Terminal, Profidrive

Remarks

This parameter is available as of Build V3.1.3039.02.

As of CNC Build V3.1.3080.14, this parameter can be updated by a list update on condition that

  • the drive release is not set.
  • In P-AXIS-00015 the value 0x00400000 must be set (ALLOW_RESOLUTION_CHANGE).

The parameter is only effective with rotary axes P-AXIS-00018 (achs_typ = 2).

 

If, in addition to switching the modulo range of the drive encoder, the drive interface is to be switched from linear to modulo position or vice versa, the parameters P-AXIS-00122 and P-AXIS-00123 must also be set accordingly.

For the modulo range of the metric representation of the CNC axis, the parameters P-AXIS-00126 and P-AXIS-00127 must be set.

If position handling for an axis is to be switched from linear to modulo or vice versa, the corresponding bits (0x01(LINEAR) or 0x04(MODULO)) must be set in P-AXIS-00015 (kenngr.achs_mode).