AXIS#.CANOPEN.PSCALE
Description
Internal position values transferred over fieldbus are converted from native 64-bit values to a maximum 32-bit position value. This parameter sets the resolution/revolution of position values back to the controller.
This value determines the counts per revolution of position values delivered by fieldbus. The default value is 20, which yields 2^20 counts/revolution. This scaling is used for CAN PDOs 6063h (Position actual internal value) and 60FCh (Position demand internal value).
Example
With units = counts 32 bit (ie: 2^32 counts/revolution), the default PSCALE of 20, and AXIS#.PL.FB = 2147483648.000 [Counts], which is half of 2^32, meaning a position of 180 degrees. The position actual internal value (6063h) over the fieldbus would be 2^20 / 2 = 524288 counts.
Context
See CANopen Scaling.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
N/A |
|
Range |
1 to 32 |
|
Default Value |
20 |
|
Data Type |
Integer |
|
Stored in Non Volatile Memory |
Yes |
Variants Supported
CANBus and EtherCAT
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.CANOPEN.PSCALE |
5003h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.CANOPEN.PSCALE |
5103h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
