Applied Motion ST10-C-CE - Manual (Page 59)

59 920-0025 Rev K
3/5/2015
CANopen User Manual
Appendix B - Parameter Unit Scaling
The table below shows conversions from physical units to internal drive units. Use this
table to scale param eters before they are sent to the drive. Units must be rounded to the near-
est whole number and represented in hexadecimal. Negative numbers should be expressed
using two’s complement notation.
Table 16: Parameter Scaling Chart
Querying the Point to Point Profile Acceleration from the drive:
An SDO read from OD 6083
h
returns a value of 226
h
, or 550 decimal. Using the accelera-
tion multiplier this yields an acceleration of 91.685 rps/s.
550 * 0.1667 RPS = 91.685 rps/s
Set the Point to Point Acceleration to 10 rps/s:
When setting a known accel value, divide by the acceleration multiplier to obtain the hexa-
decimal number.
10 rev/s 2 / 0.1667 = 59.988
Using the formula above, and rounding to the nearest whole number, results in a value of
60 decimal, or 3C
h
to send as an SDO Write to OD 6083
h.
Set the Target Position to -2000 steps:
Because the relationship between physical steps and internal steps is one-to-one, the
value -2000 can be sent to OD 607A
h
. Sending a negative number must be done in two’s
complement notation. To find the two’s complement, subtract the value 2000 from 2 32 , since the
Target Position is a 32 bit number.
2 32 - 2000 = 4,294,965,296 = FFFFF830
h
Parameter Type Multiplier Units
Current 0.01 A
Velocity 0.0042 rps
Acceleration 0.1667 rps/s
Distance 1 step