AXIS#.CANOPEN.PSCALE

Description

Internal position values transferred over fieldbus are converted from native 64-bit values to a maximum 32-bit position value. This parameter sets the resolution/revolution of position values back to the controller.

This value determines the counts per revolution of position values delivered by fieldbus. The default value is 20, which yields 2^20 counts/revolution. This scaling is used for CAN PDOs 6063h (Position actual internal value) and 60FCh (Position demand internal value).

Example

With units = counts 32 bit (ie: 2^32 counts/revolution), the default PSCALE of 20, and AXIS#.PL.FB = 2147483648.000 [Counts], which is half of 2^32, meaning a position of 180 degrees. The position actual internal value (6063h) over the fieldbus would be 2^20 / 2 = 524288 counts.

Context

See CANopen Scaling.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

1 to 32

Default Value

20

Data Type

Integer

Stored in Non Volatile Memory

Yes

Variants Supported

CANBus and EtherCAT

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.CANOPEN.PSCALE

5003h

01h

Unsigned8

-

-

Read/Write

No

AXIS2.CANOPEN.PSCALE

5103h

01h

Unsigned8

-

-

Read/Write

No