Infranor XtrapulsPac - Factor and Units

102
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
If the position feedback is an encoder, then [0x6064,0] is the same as [0x3129,0].
3.2.2.8 - Factor and units
Factor and Units
The position unit is defined by object 0x6093
The velocity unit is defined by position unit per second.
The acceleration unit is defined by position unit per square second.
Index Object Name Type Attr.
0x608F ARRAY Encoder Position Resolution Unsigned32 rw
0x6093 ARRAY Position Factor Unsigned32 rw
0x3089 VAR Position Display Factor Unsigned16 rw
0x308A VAR Position Unit Name String rw
Index 0x608F
Name Encoder Position Resolution
Object Code ARRAY
Number of Elements 2
Value Description
Sub Index 1
Description Encoder Increments
Data Type Unsigned32
Object Class all
Access rw
PDO Mapping No
Unit inc
Value Range
Default Value 0x1000
This parameter defines the encoder position resolution for one motor revolution.
0x312D,3
User Unit
conversion
Encoder input
Encoder Zero offset
Encoder position
+
+
-
Datum offset
Position Feedback Select
0x306A,0
Axis Position
0x312D,5
User Unit
conversion
0x3130,0
0x3128,0
0x3129,0 0x6064,0