AXIS#.SAFEPARAM.UNIT​.POSINENC

Description

Indicates the position increment in encoder units.

 

The safe system uses the following formula:

With:

• posInEncUnit is AXIS#.SAFEPARAM.UNIT.POSINENC
• posInUserUnit is AXIS#.SAFEPARAM.UNIT.POSINUSER
• resInNbInc: the encoder resolution in counts
• resInEncUnit: resolution in encoder units

Example

• posInEncUnit is AXIS#.SAFEPARAM.UNIT.POSINENC
• posInUserUnit is AXIS#.SAFEPARAM.UNIT.POSINUSER

Position: posInUserUnit[posUserUnit] = posInEncUnit[encUnit]
Position∶ 3600[deciDegree]=1[rev] (Default)
Position∶ 360[deg]=1[rev]
Position∶ 1[um]=1000[nm]

Context

For details refer to Parameterization of User Units.

Related safety parameters:

• AXIS#.SAFEPARAM.UNIT.ACCFACTOR
• AXIS#.SAFEPARAM.UNIT.ACCINENC
• AXIS#.SAFEPARAM.UNIT.ACCINUSER
• AXIS#.SAFEPARAM.UNIT.ACCLABEL
• AXIS#.SAFEPARAM.UNIT.POSFACTOR
• 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.POSINENC	3151h	02h	Unsigned32	-	-	Read/Write	No
AXIS2.SAFEPARAM.UNIT.POSINENC	3251h	02h	Unsigned32	-	-	Read/Write	No