Simple positioning with modulo axis

The following application example illustrates how, in "Positioning" operating mode, you can use the user interface to easily position a modulo axis.

Control

Control the axis in the Positioning structure as follows:

• To activate the operating mode, set xActivate to "TRUE".
• Define the setpoints for lrPosition, lrVelocity, lrAcceleration, lrDeceleration, and lrJerk.
• Set eModuloMode to MODULO_CW in the CONFIG structure.
• To start the operating mode, set xStart to "TRUE".

Interface in the IEC Editor

Note:

As soon as the setpoint profile has reached the target position, you will receive the feedback message xInPosition = "TRUE" in the OUT structure.

Trace recording

[1]	SEW_GVL.Interface_Axis1.ProfileGeneration.Positioning.In.xActivate
[2]	SEW_GVL.Interface_Axis1.ProfileGeneration.Positioning.In.xStart
[3]	SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrPosition
[4]	SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrVelocity
[5]	SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrAcceleration
[6]	SEW_GVL.Interface_Axis1.ProfileGeneration.Positioning.Out.xInPosition
[7]	SEW_GVL.Interface_Axis1.ProfileGeneration.Positioning.Out.xStopped

Note:

The modulo mode is applied with a rising edge at xStart, i.e. not during ongoing movement.