AXIS#.CANOPEN.VELSCALEDENOM

Description

Denominator in CANopen velocity scale factor calculation.

Velocity value = ((velocity internal value * feed constant) / (encoder 
resolution * gear ratio)) * velocity factor
Or:
Velocity value = (position value / sec) * velocity factor

Example

With default position units at 65536 counts/revolution. If velocity is to be scaled in RPM, set the velocity factor to 60 s / 65536 counts/revolution. 60 seconds in the numerator converts the counts per second into counts per minute and 65536 counts/revolution denominator is converts our counts per minute into revolutions per minute.

Context

See CANopen Scaling.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

1 to 4294967295

Default Value

1

Data Type

Integer

Stored in Non Volatile Memory

Yes

Variants Supported

CANBus and EtherCAT

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.CANOPEN.VELSCALEDENOM

6096h

02h

Unsigned32

-

-

Read/Write

No

AXIS2.CANOPEN.VELSCALEDENOM

6896h

02h

Unsigned32

-

-

Read/Write

No