The controller can modulo incomming encoder feedback. In cases where the you want to keep track of how many times the motor has passed a certain position (ex: how many times a motor has gone through one revolution), the modulo function can be used. If you want to keep track of how many times a motor has gone through one revolution, set the modulo value to the number of encoder counts per revolution and set reverse to FALSE. The lower 32 bits of the motor feedback will represent the position within one revolution of the motor. The upper 32 bits will represent how many times the motor has gone through one revolution.
For motors that do not have 32 bits of feedback, the reverse modulo function MUST be used. Set the modulo value equal to the encoder resolution and set reverse to TRUE. The controller will create a 64-bit encoder position in the motor object from the encoder feedback.
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