S300-S700 CANopen | 5 CANopen Drive Profile
5.4.2.4 Object 6061h: Modes of Operation Display (DS402)
This object can be used to read the mode that is set by Object 6060h. An operating mode only
becomes valid when it can be read by Object 6061h (see also Object 6060h).
Index 6061h
Name mode of operation display
Object code VAR
Data type INTEGER8
Category mandatory
Access ro
PDO mapping possible
Value range 80h ... 88h, 1, 3, 4, 6, 7
Default value —
5.5 Factor Groups (fg) (DS402)
The "factor groups" define the units of position-, velocity- and acceleration setpoints. These values
are converted into drive-specific parameters.
Actually the units definitions are not finally defined in the CANopen profile DS402. Therefore the
Objects 6089h to 609Eh should not be used.
The drive parameters for the unit definitions should be set as follows:
PUNIT= 0 (counts)
VUNIT= 0 (counts / s)
ACCUNIT= 3 (counts / s²)
5.5.1 General Information
5.5.1.1 Factors
There is a possibility to convert between physical dimensions and sizes, and the internal units
used in the device (increments). Several factors can be implemented. This chapter describes how
these factors influence the system, how they are calculated and which data are necessary to build
them.
5.5.1.2 Relationship between Physical and Internal Units
The factors defined in the factor group set up a relationship between device-internal units (incre-
ments) and physical units.
The factors are the result of the calculation of two parameters called dimension index and notation
index. The dimension index indicates the physical dimension, the notation index indicates the
physical unit and a decimal exponent for the values. These factors are directly used to normalize
the physical values.
The notation index can be used in two ways:
For a unit with decimal scaling and notation index < 64, the notation index defines the expo-
nent/decimal place of the unit.
For a unit with non-decimal scaling and notation index > 64, the notation index defines the
subindex of the physical dimension of the unit.
62 Kollmorgen | kdn.kollmorgen.com | December 2019
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