AXIS#.MOTOR.PITCH

Description

This parameter is used with linear encoders. It defines a distance in millimeters which is determined by how the linear enocoder is used.

  • When used with a linear motor, it defines the pole-to-pole pitch. The pitch is the distance between two similar poles. Kollmorgen linear motors have a pitch of 32mm.

  • When using a linear encoder in a dual loop configuration in which the linear encoder is used as a secondary position feedback, the distance specified is equal to the distance the linear encoder travels given one rotation of the rotary motor.


  • This parameter is required to be configured for AXIS#.MOTOR.TYPE = 1 or when using a linear encoder as the AXIS#.PL.FBSOURCE.

Context

For more information see Motor.

Versions

Action Version Notes
Implemented 02-00-00-000
Added dual loop behavior 02-09-03-000 AXIS#.MOTOR.PITCH was not previously included in the resolution calculation when using a linear encoder only as a position source. In order to relate the rotary motor with the linear encoder for proper control, this parameter is now required to be set.

General Information

Type

Read/Write

Units

mm

Range

0.001 to 1000

Default Value

32

Data Type

Float

See Also

N/A

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.MOTOR.PITCH

500bh

16h

Unsigned32

-

1000:1

Read/Write

No

AXIS2.MOTOR.PITCH

510bh

16h

Unsigned32

-

1000:1

Read/Write

No
EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

6211

1

6211 (0x1843)

AXIS1.MOTOR.PITCH

Unsigned32

Read/Write

Yes

71747

2

6211 (0x1843)

AXIS2.MOTOR.PITCH

Unsigned32

Read/Write

Yes
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.MOTOR.PITCH

6211

Float

Read/Write

-