Object 6061H: Modes Of Operation Display (Ds402); Factor Groups (Fg) (Ds402); General Information; Factors - Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile

7.4.2.4 Object 6061h: Modes of Operation Display (DS402)

This object can be used to read the mode that is set by Object 6060h. An operating mode only becomes valid
when it can be read by Object 6061h (see also Object 6060h).
Index 6061h
Name mode of operation display
Object code VAR
Data type INTEGER8
Category mandatory
Access R/O
PDO mapping possible
Value range 1, 3, 4, 6, 7, 8
Default value —

7.5 Factor Groups (fg) (DS402)

The "factor groups" define the units of position-, velocity- and acceleration setpoints. These values are converted
into drive-specific parameters.
Two types of scalings can be used depending on the configuration bit 4 in FBUS.PARAM05:
1. Scaling analog to Telnet. Then you should set the UNIT.PROTARY = 3, UNIT.VROTARY = 3 and
UNIT.ACCROTARY = 3.
2. Scaling only with DS402 - scaling factors independant of the scalings used via Telnet. Therefore use the set-
tings via the objects 204C / 6091/6092.

7.5.1 General Information

7.5.1.1 Factors

You can convert between physical dimensions and sizes, and the internal units used in the device (increments).
Several factors can be implemented. This chapter describes how these factors influence the system, how they
are calculated and which data are necessary to build them.

7.5.1.2 Relationship between Physical and Internal Units

The factors defined in the factor group set up a relationship between device-internal units (increments) and phys-
ical units.
The factors are the result of the calculation of two parameters called dimension index and notation index. The
dimension index indicates the physical dimension, the notation index indicates the physical unit and a decimal
exponent for the values. These factors are directly used to normalize the physical values.
The notation index can be used in two ways:
For a unit with decimal scaling and notation index < 64, the notation index defines the exponent/decimal place
l
of the unit.
For a unit with non-decimal scaling and notation index > 64, the notation index defines the subindex of the
l
physical dimension of the unit.
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The drive parameters for the unit definitions should be set as follows:
UNIT.PROTARY= 3 (UNIT.PIN/UNIT.POUT)
UNIT.VROTARY = 3 (UNIT.PIN/UNIT.POUT/s)
UNIT.ACCROTARY = 3 (c UNIT.PIN/UNIT.POUT/s²)