Description
Velocity and Acceleration values are scaled according to the EtherNet/IP Position Controller Device standard. One “Profile Units” scaling value is defined, which affects both velocity and acceleration.
For velocity values, Profile Units gives the number of actual position feedback counts (at 32 bits per revolution) per second equal to one velocity unit. For acceleration values, Profile Units gives the number of actual position feedback counts (at 32 bits per revolution) per second^2 equal to one acceleration unit.
From WorkBench, this scaling parameter is visible in the EtherNet/IP screen or as EIP.PROFUNIT in the terminal. From EtherNet/IP, this value can be accessed at attribute 0x05 Profile Units of the Position Controller object.
The default value is 2^16 = 65536, which provides 2^32 / 2^16 = 2^16 counts per second per revolution. A value of 1 would provide 2^32 / 1 = 2^32 counts per second per revolution.
General Information
|
Type |
R/W |
|
Units |
N/A |
|
Range |
0 to 4,294,967,295 |
|
Default Value |
65536 |
|
Data Type |
Integer |
|
Start Version |
M_01-05-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | No |
| AKD with Position Indexer | No |
| AKD EtherCAT | No |
| AKD CANopen | No |
| AKD BASIC | No |
| AKD SynqNet | No |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | No |
| AKD Sercos® III | No |
| AKD-N | No |
| AKD-C | No |
Fieldbus Information
| Instance | Data Size | Data Type |
|---|---|---|
| 797 | 4 Byte | Integer |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
1592 |
No | 32-bits | No | M_01-06-03-000 |
