User Manual CANopen/EtherCAT
46
Note: The following objects are directly calculated in ServoOne:
- Position Factor
- Velocity Encoder Factor
- Acceleration Factor
The calculation is based on the objects stored in the formulae
(e. g. feed constant, gear ratio etc.).
It is in fact possible to change these variables in DriveManager or via the bus,
but they will be overwritten by the internal calculation as part of the control
initialisation.
Note: In this section you will find an overview of the objects from the factor
group and the underlying formulae for the calculation.
You will find practical examples for the implementation of scaling in the
Application Manual.
Factor group as per DS402:
Object
No.
Object
Name
Object
Code
Type Attr.
0x607E Polarity VAR Unsigned8 rw
0x6089 Position_Notation_Index VAR Integer8 rw
0x608A
Position_Dimension_Index
Only display for scaling block
VAR Unsigned8 rw
0x608B Velocity_Notation_Index VAR Integer8 rw
0x608C
Velocity_Dimension_Index
Only display for scaling block
VAR Unsigned8 rw
0x608D Acceleration_Notation_Index VAR Integer8 rw
0x608E
Acceleration_Dimension_Index
Only display for scaling block
VAR Unsigned8 rw
0x608F Position_Encoder_Resolution VAR Unsigned8 rw
0x6090 Velocity_Encoder_Resolution ARRAY Unsigned32 rw
0x6091 Gear_Ratio ARRAY Unsigned32 rw
Object
No.
Object
Name
Object
Code
Type Attr.
0x6092 Feed_Constant ARRAY Unsigned32 rw
0x6093
Position_Factor ARRAY Unsigned32 rw
0x6094
Velocity_Encoder_Factor ARRAY Unsigned32 rw
0x6097 Acceleration_Factor ARRAY Unsigned32 rw
Table Factor group
The objects of the factor group can be calculated and entered directly by the user,
independently of the DriveManager Scaling Wizard. The corresponding encoder settings
must be made however.
Calculation correlations factor group parameters
Object 608Fh: Position Encoder Resolution
The position encoder resolution defines the relationship between the encoder and motor
revolutions
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