AXIS#.CANOPEN.VELSCALENUM
Description
Numerator 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 the 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
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.CANOPEN.VELSCALENUM |
6096h |
01h |
Unsigned32 |
- |
- |
Read/Write |
No |
|
AXIS2.CANOPEN.VELSCALENUM |
6896h |
01h |
Unsigned32 |
- |
- |
Read/Write |
No |
