5. Commands and Functions - Sanyo Denki America, Inc.

5. Commands and Functions
Modulo Function
The following section describes the modulo function (coordinate range adjustment function).
This function presets the amplifier internal coordinates to the range specified by command 2Ch. The operation is
performed in the direction selected by command 2Dh. The modulo function is enabled if command 2Bh=1.
This function is effective for applications where shortcut-control of rotating loads or switching from velocity control to
in-position control is necessary.
Coordinate value
Modulo function is disabled
Modulo value
(Command 2Ch value -1)
Valid position range when modulo function is enabled
0
* When using incremental move commands or SCAN operation, the coordinates (absolute position monitor)
follow the modulo settings.
Command Code: 43 (2Bh)
Data Length: 1 byte
Modulo Function Enable / Disable
DAT No Function Setting range Setting unit Initial Value
DAT1 Low Zone 0 to 1 0=Modulo function disabled
0
1=Modulo function enabled
Enables or disables the modulo function. When enabled, absolute move commands perform modulo operation.
* When modulo is enabled, the target position should be set in the following range: 0 ≤ Target position ≤ Modulo value -1
Command Code: 44 (2Ch) Data Length: 4 bytes
Modulo Value
DAT No Function Setting range Setting unit Initial Value
DAT1 to Modulo Value See below depends on setting resolving Equivalent of 1 rotation
Sets the modulo pulse number per rotation.
* Coordinate setting is not possible for the negative direction.
Setting range
Basic divisions 500 1000 2000 4000 5000 10000
Upper limit coordinate 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF
Command Code: 45 (2Dh)
Data Length: 1 byte
Modulo Direction
DAT No Function Setting range Setting unit Initial Value
DAT1 Modulo Direction 0 to 2 0=Negative direction
2 (Shortcut)
1=Positive direction
2=Shortcut
Sets the direction of the modulo operation.
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