AXIS#.IL.COMPTABLE.MIN

Description

AXIS#.IL "Instruction List" This is a low-level language and resembles assembly.COMPTABLE.MIN sets the cogging compensation/torque Torque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist compensation table index minimum. The table begins at the defined minimum axis position.

When AXIS#.PL.FB is equal to AXIS#.IL.COMPTABLE.MIN, the output of the table will be equal to the first table entry.

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• The units of AXIS#.IL.COMPTABLE.MIN is determined by the value of AXIS#.UNIT.PROTARY or AXIS#.UNIT.PLINEAR.

Example

To set the start of the table to 0 degrees, the user would enter:

-->AXIS1.IL.COMPTABLE.MIN 0

Versions

Action	Version	Notes
Implemented	02-07-03-000

General Information

Type	Read/Write
Units	Rotary: counts, rad, deg, custom units, 16-bit counts Linear: counts, mm, µm, custom units, 16-bit counts See Position Units for details.
Range	Depends on units. See Position Range for details.
Default Value	0
Data Type	Float
Stored in Non-Volatile Memory	Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT ***EtherCAT 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 CoE and CANopen

Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
AXIS1.IL.COMPTABLE.MIN	500ah	1bh	Signed32	Position	-	Read/Write	No
AXIS2.IL.COMPTABLE.MIN	510ah	1bh	Signed32	Position	-	Read/Write	No

EtherNet/IP

Name	ID	Hex	Data Type	Access	Units
AXIS1.IL.COMPTABLE.MIN	5840	16D0	Signed32	Read/Write	Position
AXIS2.IL.COMPTABLE.MIN	71376	116D	Signed32	Read/Write	Position

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.IL.COMPTABLE.MIN	5840	Signed32	Read/Write	Position