Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 60)

4.5.2.4 Object 6094h: velocity_encoder_factor (DS402)

The velocity_encoder_factor converts the target speed (revs/min) or velocity (incr/sec) into the inter

nal data format of the AX2000/2500 (increments).

The velocity_encoder_factor is calculated as:

velocity_ encoder_ factor

velocity_ encoder_ resolutio

n gear_ ratio position_ unit Fvelocity(notation_ inde´´ ´ x)

feed_ constant velocity_ unit sec Fposition(notati´´´

on_ index)

velocity_encoder_resolution the resolution of the speed 2

gear_ratio the transmission ratio for the gearing that is used

position_unit in meters

Fposition(notation_index) in dimension_index = 1, notation_index=0[m]

feed_constant the feed constant for the output side of the drive gearing

velocity_unit in [m/s]

Fvelocity (notation_index) in dimension_index = 13, notation_index=0[m/s]

(see also Object 606B

velocity_notation_index and Object 606C

velocity_dimen-

sion_index)

Index

0x6094

Name

velocity_encoder_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

divisor

Mode

Access

PDO mapping

not possible

Unit

seconds [s]

Value range

0 ... (2

-1)

EEPROM

Default value

60 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

1 2 ... 55 56 57 58 59 60 61 62 63 64 65 ... 136 137

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