Elmo DSP 402 manual Factors, 8.2Functions and Limits, 607Eh Polarity 6089h Position notation index

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

38

8: Factors

607Eh: Polarity

6089h: Position notation index

608Ah: Position dimension index

608Bh: Velocity notation index

608Ch: Velocity dimension index

608Dh: Acceleration notation index

608Eh: Acceleration dimension index

608Fh: Position encoder resolution

6090h: Velocity encoder resolution

6093h: Position factor

6094h: Velocity encoder factor

6095h: Velocity factor 1

6096h: Velocity factor 2

6097h: Acceleration factor

Physical dimensions and sizes need to be converted into the device internal units, requiring a number of different factors. This chapter describes how these factors influence the system, how they are calculated and which data is needed to build them.

8.1Relationship between Physical and Internal Units

The factors defined in the factor group determine a relationship between the Elmo drive internal units and the application physical units. The factors are a result of the calculation of two parameters – called dimension index and notation index – which are defined Appendix A and Appendix B. One parameter indicates the physical dimensions, and the other indicates the decimal exponent for the values. These factors are directly used to normalize the physical values.

The application-specific parameters are used in the corresponding mode of operation to build the described factors. Parameters that are commonly used are integrated in the object dictionary without defining their junctions. This guarantees a common parameter number for further use without the need for predefinition.

8.2Functions and Limits

Factors cannot be set while the drive is in OPERATION ENABLE state.

Divisors cannot be set to 0. An abort message with abort code 0609 0030 will be transmitted.

Values are truncated to the nearest integer.