ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 44)

8: Factors
607Eh: Polarity
6089h: Position notation index
608Ah: Position dimension index
608Bh: Velocity notation index
608Ch: Velocity dimension index
608Dh: Acceleration notation index
608Eh: Acceleration dimension index
608Fh: Position encoder resolution
6090h: Velocity encoder resolution
6093h: Position factor
6094h: Velocity encoder factor
6095h: Velocity factor 1
6096h: Velocity factor 2
6097h: Acceleration factor
Physical dimensions and sizes need to be converted into the device internal units,
requiring a number of different factors. This chapter describes how these factors
influence the system, how they are calculated and which data is needed to build them.
8.1 Relationship between Physical and Internal Units
The factors defined in the factor group determine a relationship between the Elmo drive
internal units and the application physical units. The factors are a result of the calculation
of two parameters – called dimension index and notation index – which are defined
Appendix A and Appendix B . One parameter indicates the physical dimensions, and the
other indicates the decimal exponent for the values. These factors are directly used to
normalize the physical values.
The application-specific parameters are used in the corresponding mode of operation to
build the described factors. Parameters that are commonly used are integrated in the
object dictionary without defining their junctions. This guarantees a common parameter
number for further use without the need for predefinition.
8.2 Functions and Limits
Factors cannot be set while the drive is in OPERATION ENABLE state.
Divisors cannot be set to 0. An abort message with abort code 0609 0030 will be
transmitted.
Values are truncated to the nearest integer.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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