Rotary Axis With Modulo Correction; Description; Figure 18: Modulo Correction At Rotary Table Application - TR-Electronic MP-Series Benutzerhandbuch

6.6 Rotary axis with modulo correction

The "rotary axis application" described below is only available for drives in which the
index
Example: 0141x-xx2x.

6.6.1 Description

To realize a rotary axis application with continuous one-way positioning and a
mechanical gearbox with any reduction, a modulo correction algorithm is required.
This compensates for rounding errors and prevents the position value from drifting
away.
The following example illustrates the necessary modulo correction for a rotary table
application:
The encoTRive has A
Between engine and application there is a gearbox with a reduction of i = 39/17. So
the table rotates 17 times while the motor turns 39 times. Thus, a table turn
corresponds to 4096 * 39/17, that is about 9396.70588 ..., in fact there are 9396 12/17
position units on the motor. To ensure that the rotary table is correctly positioned in
the starting position each time, 12 x 9396 and 17 x 9397 position units must be
alternately moved.

Figure 18: Modulo correction at rotary table application

Printed in the Federal Republic of Germany
06/06/2019
of the firmware number
= 4096 position units per revolution and drives a rotary table.
M
TR - EMO - BA - DGB - 0019 - 08
at the penultimate
 TR-Electronic GmbH 2008, All Rights Reserved
is ≥ 2.
position
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