User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-18 C27750-001
Fractional types are implemented as arrays consisting of unsigned 32 values for numerator and denominator. The
input parameters are listed below: -
Index Name Type Comment
0x6089 ds402 position notation index S08 Default value = 0
0x608A ds402 position dimension index U08 Default value = 0x41, i.e. degrees.
0x608B ds402 velocity notation index S08 Default value = 0
0x608C ds402 velocity dimension index U08 Default value = 0xA4, i.e. rpm
0x608D ds402 acceleration notation index S08 Default value = 0
0x608E ds402 acceleration dimension index U08 Default value = 0xAF, i.e. rev/sec
2
0x608F ds402 position encoder resolution Fraction Inc. per Rev
0x608F/0 number of entries U08 Fixed value =2
0x608F/1 increments U32 Default value = 65536
0x608F/2 revolutions U32 Default value = 1
0x6090 ds402 velocity encoder resolution Fraction Inc/sec per Rev/sec
0x6090/0 number of entries U08 Fixed value = 2
0x6090/1 increments per second U32 Read-Only with fixed value of 65536
0x6090/2 revs per second U32 Read-Only with fixed value of 1
0x6091 ds402 gear ratio Fraction Motor revs per driving revs
0x6091/0 number of entries U08 Fixed value = 2
0x6091/1 motor revs U32 Default value = 1
0x6091/2 shaft revs U32 Default value = 1
0x6092 ds402 feed constant Fraction Feed pos. per driving revs
0x6092/0 number of entries U08 Fixed value = 2
0x6092/1 Feed U32 Default value = 360, (pos dimension=degrees)
0x6092/2 shaft revs U32 Default value = 1
0x607E ds402 polarity Unsigned8 Bits to invert demand/actual position/velocity.
0x2861/1 ds402 factor calculate Unsigned8 Calculate scale factors from factor group input
Table 7.5 Table of input parameters for the factors group