CANOPEN.WORKBENCHUNITS
Description
Configures whether to use WorkBench UNIT keywords (1) or CANopen scaling (0) for CANopen position, velocity, and acceleration fieldbus objects.
When using CANopen scaling, feed constant ratio and motor gear ratio objects are used. See AXIS#.CANOPEN.FCPRIMARY (6092h, 6892h Feed constant - AxisX) and AXIS#.CANOPEN.GEARPRIMARY (6091h, 6891h Gear ratio - AxisX) commands.
-
- For ease of use, it is recommended leaving this at 0 to use CANopen scaling. When this is set to 1, the values returned by fieldbus objects may or may not be scaled 1000:1 to improve resolution. See CAN/EtherCat documentation for object list with which values are scaled 1:1 vs 1000:1.
Example
AXIS1.UNIT.PROTARY 3 //custom AXIS1.UNIT.PIN 3600 AXIS1.UNIT.POUT 1 AXIS1.PL.FB 1800.000
CANOpen object 0x607A Target Position = 1800
Context
See CANopen Scaling
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
N/A |
|
Range |
0 to 1 |
|
Default Value |
0 |
|
Data Type |
Integer |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
CAN bus and EtherCAT drives: AKD2G-SPC and AKD2G-SPE
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
CANOPEN.WORKBENCHUNITS |
300bh |
02h |
Unsigned8 |
- |
- |
Read/Write |
No |
