User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-19
When values are written to the parameters above, the output parameters of the group, (i.e. the factors themselves)
are not calculated until the ds402_factor_calculate parameter is written (any value) or the ds402_polarity is written.
This is necessary to prevent errors occurring when changing the factor group. These output factors are used to
convert from the user specific units of position, velocity, or acceleration units, to internal units of increments,
incs/sec (and incs/T
samp
), and incs/sec
2
(and incs/T
samp
2
), as shown previously
Index Name Type Comment
0x6093 ds402 position factor Fraction Position units to increments
0x6093/0 number of entries U08 Fixed value = 2
0x6093/1 numerator U32 Default value = 1
0x6093/2 denominator U32 Default value = 1
0x6094 ds402 velocity encoder factor Fraction Velocity units to incs./sec
0x6094/0 number of entries U08 Fixed value = 2
0x6094/1 numerator U32 Default value = 1
0x6094/2 denominator U32 Default value = 1
0x6095 ds402 velocity factor 1 Fraction Velocity units to RPM
0x6095/0 number of entries U08 Fixed value = 2
0x6095/1 numerator U32 Default value = 1
0x6095/2 denominator U32 Default value = 1
0x6096 ds402 velocity factor 2 Fraction Pos enc res. / vel. enc. res. (fixed at 1/1)
0x6096/0 number of entries U08 Fixed value = 2
0x6096/1 numerator U32 Default value = 1
0x6096/2 denominator U32 Default value = 1
0x6097 ds402 acceleration factor Fraction Accel units to incs./sec
2
0x6097/0 number of entries U08 Fixed value = 2
0x6097/1 numerator U32 Default value = 1
0x60972 Denominator U32 Default value = 1
0x2861/0 ds402 factor error U08 Most Recent Factors Error Code
Table 7.6 Table of output parameters for the factors group
The formulae used to generate the factors are different for linear and rotational cases. The following two sections
list the formulae used, and show examples of their use for both rotational and linear cases.