Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 59)

4.5.2.3 Object 6093h: position_factor (DS402)

The position factor converts the target position into the internal data format of the AX2000/2500

(increments).

The position controller can be run with the resolution set to 20 bits/turn or 16 bits/turn (see Object

35D1

and the ASCII command PRBASE). The numerator and the feed constant can be used to set

up any value of scaling.

position_ factor

position_ encoder_ resolution gear_ r

atio

feed_ constant

position_encoder_resolution

resolution of the position controller is 2

or 2

gear_ratio

transmission ratio for the gearing that is used

feed_constant

the feed constant of the output side of the drive gearing

Index

0x6093

Name

position_factor

Object code

ARRAY

Number of elements

Data type

UNSIGNED32

Sub-Indexes:

Sub-index

Brief description

numerator

Mode

Access

PDO mapping

not possible

Unit

increments [incr]

Value range

0 ... (2

-1)

EEPROM

Default value

Sub-index

Brief description

feed_constant

Mode

Access

PDO mapping

not possible

Unit

—

Value range

0 ... (2

-1)

EEPROM

Default value

10000

Example: One turn is to be equivalent to 10000 increments. The gear ratio is 1.

position_ factor

2incr

10000 incr

Þ Numerator:2

Feed constant: 10000

Þ Setpoint provision in [incr/turn] for Object 607A

(target_position).

The Numerator corresponds to the ASCII - parameter PGEARO, feed_constant to the parameter

PGEARI.

CANopen for AX2000/2500 59

BECKHOFF 07/2007 CANopen Drive Profile

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