Object 6092h: Feed Constant
The feed constant defines the ratio of feed in position units per driving shaft revolutions.
This includes the gear if present.
Object 6094h: Velocity Encoder Factor
The velocity encoder factor converts the desired velocity (in velocity units) into the inter-
nal format (in increments).
Velocity Encoder Factor =
Velocity Encoder Resolution • Position encoder resolution • Position unit • F
velocity (Notationsindex)
Feed constant • Velocity unit • Seconds • F
positon (Notationsindex)
An example of F
velocity (Notationsindex)
or F
positon (Notationsindex)
would be 10
2
or 10
-6
Object 607Eh: Polarity
The position reference value and position actual value are multiplied by 1 or -1 depen-
ding on the value of the polarity flag.
The same applies to the speed reference and actual speed value.
Please observe the operation of the object polarity as per DS402 V2.0.
Bits 0 to 5 = reserved (don‘t use)
Bit 6 = velocity polarity
Bit 7 = position polarity
Note: As in the case of the other objects in the factor group,
changes in polarity only take effect if the control is switched off.
8.5 I/O map, object 60FDH
The status of inputs and outputs of the drive controller can be determined using various
objects. Object 60FDh from device profile DS402 is implemented, as well as two manuf
-
acturer-specific objects.
8.5.1 Object 60FDh – Digital inputs
This object is implemented in compliance with device profile DS402. It allows digital
input functions defined in the profile to be evaluated. That is, it offers no input map of
existing physical inputs, but rather a function-related input map.
So it is irrelevant to which input, for example a limit switch is connected. Within the
object the bit that defines the state of the limit switch is permanently defined.
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