NOTE!
The calculation of the user units is very time-consuming and should not be effected
in cyclic operation (position and synchronization). If the user units are set to 1:1, the
calculation of the UU is not applicable.
General notes according POWERLINK Controlled Node
Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
24
of 80
4.4
The UU have an effect on the following fieldbus objects:
0x6062, 0x6063, 0x6064, 0x6067, 0x607A,
0x607C, 0x607D SIX1, 0x607D SIX2,
0x6081, 0x6083, 0x6084, 0x6085, 0x6099 SIX 1, 0x6099 SIX 2, 0x609A
4.4.2 CANopen offset
Display of the number scale UINT32 on INT32 (CANopen-Mode). On writing/reading on
some FB objects, an offset of 2
31
is added respectively subtracted internally on the
POWERLINK option card depending on the direction.
If the position reference values and the target position shall als
o be displayed in ProDrive
in the INT32 number scale, it is possible to activate a check box for the offset on the page
„Scaling“.
The CANopen offset has an influence on the follo
wing fieldbus objects:
(0x6062, 0x6064, 0x607A, 0x607C, 0x60
7D SIX1, 0x607D SIX2) - 2
31
(0x607A
hex
, 0x607C
hex
,0x 607D
hex
Sub ½ ) + 2
31
4.4.3 Homing necessary for positioning
In ProDrive you can choose on page „Homing“ with the provided check box, whether the
drive permits a positioning, if no first-time homing has been executed.
Deactivated:
No homing is necessary for operating in operating mode positioning.
Activated:
If the drive is activated in the operating mode ’positioning’ and no homing has been exe-
cuted before,
an error message (controller message No. 200) is displayed and the drive remains posi-
tion-controlled in the current position. Positioning jobs
are not executed. They will only be
executed, after a homing has been completed (at least once after switching on). The error
message can only be acknowledged, if a homing has been executed. After the homing,
the positioning can be started.
NOTE!
A homing is necessary, in case the CANopen mode is defined as standard!
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