AXIS#.SAFEPARAM.UNIT​.ACCINENC

Description

Indicates the acceleration increment in encoder units.

 

The safe system uses the following formula:

With:

• accInEncUnit is AXIS#.SAFEPARAM.UNIT.ACCINENC
• accInUserUnit is AXIS#.SAFEPARAM.UNIT.ACCINUSER
• resInNbInc: the encoder resolution in counts
• resInEncUnit: resolution in encoder units

Example

• accInEncUnit is AXIS#.SAFEPARAM.UNIT.ACCINENC
• accInUserUnit is AXIS#.SAFEPARAM.UNIT.ACCINUSER

Acceleration: accInUserUnit[accUserUnit] = accInEncUnit[encUnit/s^2] 
Acceleration∶ 60[rpm/s]=1[rev/s^2]
Acceleration∶ 1[mm/s^2]=1000000 [nm/s^2]

Context

For details refer to Parameterization of User Units.

Related safety parameters:

• AXIS#.SAFEPARAM.UNIT.ACCFACTOR
• AXIS#.SAFEPARAM.UNIT.ACCINUSER
• AXIS#.SAFEPARAM.UNIT.ACCLABEL
• AXIS#.SAFEPARAM.UNIT.POSFACTOR
• AXIS#.SAFEPARAM.UNIT.POSINENC
• AXIS#.SAFEPARAM.UNIT.POSINUSER
• AXIS#.SAFEPARAM.UNIT.POSLABEL
• AXIS#.SAFEPARAM.UNIT.VELFACTOR
• AXIS#.SAFEPARAM.UNIT.VELINENC
• AXIS#.SAFEPARAM.UNIT.VELINUSER
• AXIS#.SAFEPARAM.UNIT.VELLABEL

Versions

Action	Version	Notes
Implemented	2-04-00-000	Implemented in SMM revision v0.56

General Information

Type	Read/Write
Units	User defined
Range	N/A
Default Value	1
Data Type	Integer
Stored in Non-Volatile Memory	No

Fieldbus Information

EtherCAT CoE and CANopen

Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.SAFEPARAM.UNIT.ACCINENC	3151h	0ah	Unsigned32	-	-	Read/Write	No
AXIS2.SAFEPARAM.UNIT.ACCINENC	3251h	0ah	Unsigned32	-	-	Read/Write	No