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 - Axis #) and AXIS#.CANOPEN.GEARPRIMARY (6091h, 6891h Gear ratio - Axis #) commands.
-
- For ease of use, it is recommended leaving this at 0 to use CANOpen
CANopen is a communication protocol and device profile specification for embedded systems used in automation for fieldbuses working in real time 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"Controller area network"
CAN is a broadcast, differential serial bus standard developed for connecting electronic control units. Each node is able to send and receive messages, but not simultaneously/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 Scalingl.
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 EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs drives: AKD2G-SPC and AKD2G-SPE
Fieldbus Information
| FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design
|
Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCAT COE and CANopen | CANOPEN.WORKBENCHUNITS | 0x300B | 0x2 | U8 | - | - | RW | False |
