ABB FECA-01 EtherCAT, User Manual

Page: 72 / 148

72 Communication profiles
Process data scaling with the CiA 402 profile

Torque data
Torque data is expressed in 0.1% of nominal torque, eg, value 10 =
1% torque.

Velocity data
Velocity data is expressed in position increments per second
(inc/s). Additionally, a rational factor by which the velocity data is
scaled can be set by object 0x6094 Velocity encoder factor.
The scaling for the velocity mode is different from other velocity
data. Velocity data for the velocity operation mode is expressed in
axis revolutions per minute (rpm). Additionally, a rational factor by
which the velocity data will be scaled can be set by object 0x604C
vl dimension factor.

Position data
Position data is expressed in position increments (inc). The
position scale is specified with object 0x608F Position encoder
resolution (number of position increments per specified number of
axis revolutions; inc/rev). Additionally, a rational factor by which all
position data will be scaled can be set by object 0x6093 Position
factor.
Process feedback values in the CiA 402 profile
Feedback values for control purposes are available in the following
objects:
•
0x6077 Torque actual value
•
0x6044 vl velocity actual value
•
0x606C Velocity actual value
•
0x6064 Position actual value.
For the objects to be operational, the drive must be configured to
transmit the corresponding feedback data to the adapter module.