Festo CiA 402 Manual page 50

4 Setting parameters
Note that when converting the units a rounding error of ± 1 increment is always possible.
If the factor group is not activated or parameterised, the following units are used:
Size Designation
Length Position units
Speed Speed units
Acceleration Acceleration units
Tab. 4.3 Factor group default settings
Description of the objects
Objects addressed in this chapter
Index Object
607E VAR
h
6093 ARRAY
h
6094 ARRAY
h
6097 ARRAY
h
Object 6093 : position_factor
h
The object position_factor converts all length units of the application from position_units into the
internal unit increments (65536 increments equal 1 revolution). It consists of numerator and
denominator.
Motor with gear unit
Motor
Fig. 4.3 Calculating the position units
50
Unit
Increments
-1
rpm
rpm/s * 256
Name
polarity
position_factor
velocity_encoder_factor
acceleration_factor
R
IN
Gear units
Explanation
65536 increments per revolution
Revolutions per minute
Rotational speed increase per second
Type
UINT8
UINT32
UINT32
UINT32
Axis
R
OUT
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Attr.
rw
rw
rw
rw
x in positioning unit
(e.g. "degrees")
x in positioning unit
(e.g. "mm")