Function: For the axes A, B, C, P, Q, U, V, and W, a modulo period can be specified by setting the words PA, PB, PC, etc. By default, PA, PB, etc. have the value 0, which means that the axis is linear. If an additional axis is configured as a modulo axis, then the shortest distance is always interpolated from the start position to the target position. For a modulo period of 360, travel is from the start position 270 to the target position 45 as follows: in the positive direction (past 360) by 135 units altogether and not in the negative direction by 225 units, as for a linear time line.
The position output of the interpolator can be outside of the interval [0..period limit[. (For example, 400 instead of 40 for a modulo period of 360.) The position is moved into the modulo range by following POUs, such as SMC_ControlAxisByPos, or SMC_FollowPosition.
Example
Rotary control of an axis by modulo mode
In block 30, axis A is moved in the positive direction by 90° from 270° to 360°=0°.
N10 PA360 (A axis has a period of 360 degrees)
N20 G92 A270 (set position of A axis to 270)
N30 G1 A0See also