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CANOPEN.WORKBENCHUNITS

Description

Configures whether to use WorkBench UNIT keywords (1) or CANopen scaling (0) for CANopen position, velocity, and acceleration fieldbus objects.

When using CANopen scaling, feed constant ratio and motor gear ratio objects are used. See AXIS#.CANOPEN.FCPRIMARY (6092h, 6892h Feed constant - Axis #) and AXIS#.CANOPEN.GEARPRIMARY (6091h, 6891h Gear ratio - Axis #) commands.


  • For ease of use, it is recommended leaving this at 0 to use CANOpen scaling. When this is set to 1, the values returned by fieldbus objects may or may not be scaled 1000:1 to improve resolution. See CAN/EtherCat documentation for object list with which values are scaled 1:1 vs 1000:1.

Example

AXIS1.UNIT.PROTARY 3 //custom
AXIS1.UNIT.PIN 3600
AXIS1.UNIT.POUT 1
AXIS1.PL.FB 1800.000

CANOpen object 0x607A Target Position = 1800

Context

See CANopen Scalingl.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 1

Default Value

0

Data Type

Integer

Stored in Non Volatile Memory

Yes

Variants Supported

CAN Bus and EtherCAT drives: AKD2G-SPC and AKD2G-SPE

Fieldbus Information

Fieldbus Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCAT COE and CANopen CANOPEN.WORKBENCHUNITS 0x300B 0x2 U8 - - RW False

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