User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-25
Value Error Code Comment
1 POS_2_INC_ERROR Error Setting up Position Factor.
2 VEL_2_INC_PER_SEC_ERROR Error Setting up Velocity Encoder Factor.
3 RPM_2_VEL_ERROR Error Setting up Velocity Factor 1.
4 ACC_2_INC_PER_SEC2_ERROR Error Setting up Acceleration Factor.
5 HOMOFF_ERROR Error Setting up the Home Offset Value
6 POSLIMMIN_ERROR Error Setting up the Software Position Limit Minimum
7 POSLIMMAX_ERROR Error Setting up the Software Position Limit Maximum
8 POSRNGMIN_ERROR Error Setting up the Position Range Limit Minimum
9 POSRNGMAX_ERROR Error Setting up the Position Range Limit Maximum
10 TARPOS_ERROR Error Setting up the Target Position.
11 PROVEL_ERROR Error Setting up the Profile Velocity.
12 PROACC_ERROR Error Setting up the Profile Acceleration.
13 HOMSWT_ERROR Error Setting up the Homing Switch Speed.
14 HOMZER_ERROR Error Setting up the Homing Zero Speed.
15 HOMACC_ERROR Error Setting up the Homing Acceleration.
16 TARVEL_ERROR Error Setting up the Target Velocity.
17 VELWIN_ERROR Error Setting up the Velocity Window.
18 VELTHR_ERROR Error Setting up the Velocity Threshold.
19 POSWIN_ERROR Error Setting up the Position Window.
20 FOLERR_ERROR Error Setting up the Following Error.
Table 7.8 Table of factors error codes
11) The gear ratio is the number of motor shaft revolutions per driving shaft revolutions. The gear ratio is not
included in the feed constant.
12) The velocity encoder factor converts from velocity units to incs/sec. This is incorrectly listed as incs in
DS402
13) The acceleration factor converts from acceleration units into incs/sec2. This is incorrectly listed in DS402.
14) The polarity parameter is used for both position and velocity polarities. Setting the position polarity bit will
multiply the position demand value and position actual value by –1. Setting the velocity polarity bit will
multiply the velocity demand value and velocity actual value by –1. The MSB (Bit 7) sets the position
polarity, while Bit 6 sets the velocity polarity.
15) The encoder resolution for the factors group is set dependent on the value of encoder parameters. The
resolution is set from encinc << encres. If the factor encoder resolution is changed, encres (0x2e20/5) is set-
up accordingly (encinc will not change.).