BECKHOFF AX2000 CANopen communication profile - Manual (Page 59)

4.5.2.3 Object 6093h: position_factor (DS402)
The position factor converts the target position into the internal data format of the AX2000/2500
(increments).
The position controller can be run with the resolution set to 20 bits/turn or 16 bits/turn (see Object
35D1
h
and the ASCII command PRBASE). The numerator and the feed constant can be used to set
up any value of scaling.
position_ factor
position_ encoder_ resolution gear_ r
=
´ atio
feed_ constant
l position_encoder_resolution
resolution of the position controller is 2
20
or 2
16
l gear_ratio
transmission ratio for the gearing that is used
l feed_constant
the feed constant of the output side of the drive gearing
Index 0x6093 h
Name position_factor
Object code ARRAY
Number of elements 2
Data type UNSIGNED32
Sub-Indexes:
Sub-index 01 h
Brief description numerator
Mode pp
Access rw
PDO mapping not possible
Unit increments [incr]
Value range 0 ... (2
32
-1)
EEPROM no
Default value 2 20
Sub-index 02 h
Brief description feed_constant
Mode pp
Access rw
PDO mapping not possible
Unit —
Value range 0 ... (2 32 -1)
EEPROM no
Default value 10000
Example: One turn is to be equivalent to 10000 increments. The gear ratio is 1.
position_ factor
2 incr
10000 incr
20
=
Þ Numerator: 2
20
Feed constant: 10000
Þ Setpoint provision in [incr/turn] for Object 607A
h
(target_position).
The Numerator corresponds to the ASCII - parameter PGEARO, feed_constant to the parameter
PGEARI.
CANopen for AX2000/2500 59
BECKHOFF
07/2007
CANopen Drive Profile