Objects For Position Calculation - Kollmorgen S300 Interface Manual

Kollmorgen
4.5.2

Objects for position calculation

4.5.2.1 Object 6089h: position notation index (DS402)
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
The "position notation index" scales position setpoints, which units are defined with the "position
dimension index" in SI-units, in powers of ten.
Relationship between the values for Object 6089 and the manufacturer specific parameter PUNIT:
4.5.2.2 Object 608Ah: position dimension index (DS402)
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
The "position dimension index" defines the SI-units of the used position setpoints.
Relationship between the Object-values and the manufacturer-specific parameter PUNIT:
The parameter PUNIT can be stored in the drive. The values of Object 6089h and 608Ah are initiali-
zed by that parameter.
CANopen for S300/S700
6089
position notation index
VAR
INTEGER8
mandatory
rw
not possible
INTEGER8
0
Value of Object 6089h
FF
h
FE
h
FD
h
FC
h
FB
h
FA
h
F9
h
F8
h
F7
h
0
608A
position dimension index
VAR
UNSIGNED8
mandatory
rw
not possible
UNSIGNED8
0
Value of Object608Ah
1
0
11/2018
h
ASCII parameter PUNIT
1
2
3
4
5
6
7
8
9
0
h
ASCII parameter PUNIT
9...1
0
CANopen Drive Profile
Scaling
-1
10
-2
10
-3
10
-4
10
-5
10
-6
10
-7
10
-8
10
-9
10
1
SI unit
m
Manufacturer specific increments
63