Digitax ST User Guide
85
Issue: 5
9.18.10 0x6084 Profile decleration
Table 9-62 Profile decleration
9.18.11 0x6085 Quick_stop_deceleration
This object is used to configure the deceleration rate used to stop the
motor when the quick stop function is activated and the quick stop code
object (0x605A) is set to 2 or 6. The quick stop deceleration is also used
if the fault reaction code object (0x605E) is 2. The value is given in user-
defined acceleration units.
Table 9-63 Quick_stop_deceleration
9.18.12 Profile units
The EtherCAT interface implementation provides a means to convert
profile units into position controller and drive units. All scaling values are
standard profile objects. The following objects are supported:
Table 9-64 Supported profile units
For positions, the scaling control includes a feed constant, a gear ratio
and an encoder revolution. These values are combined by the
implementation into a simple scaling numerator and denominator. It is
possible to change these values non-cyclically (i.e. using SDOs), in
which case the scaling numerator and denominator and any position
limit values are recalculated in the background. It is not, however,
possible to change these values cyclically (i.e. by mapping PDOs to
them).
For velocities, in addition to the position constants described above,
these values are combined into a simple numerator and denominator to
scale velocities to internal velocity units. This scaling also properly
handles remainders (i.e. when used on a reference or feedback,
accumulate the remainder and add it to subsequent velocity values, and
when used with a limit, round up or down). It is possible to change these
values non-cyclically (i.e. using SDOs), in which case the scaling
numerator and denominator is recalculated in the background. It is also
necessary to re-scale velocity limit values with the new factor. It is not
possible to change these values cyclically (i.e. by mapping PDOs to
them).
9.18.13 0x608F Position_encoder_resolution
This read only object indicates the configured encoder increments per
number of motor revolutions. The information is read from the drive's
encoder configuration.
Table 9-65 Position_encoder_resolution
9.18.14 0x6091 Gear_ratio
This object is used to apply scaling. When configured, appropriate user
units can be used to control the position of the shaft beyond a gearbox.
The gear ratio is calculated using the following formula:
gear ratio = motor shaft revolutions / driving shaft revolutions
Table 9-66 Gear_ratio
0x6084
Profile deceleration
Access: RW
Range:0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 65536
Description: Provides the deceleration ramp for the positioning modes
0x6085
Quick_stop_deceleration
Sub-index 0
Access: RW
Range:0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 2
Description: Quick stop function for the positioning related modes.
Index
Name
0x608F
position_encoder_resolution
0x6091
gear_ratio
0x6092
feed_constant
0x608F
Position_encoder_resolution
Sub-index 0
Access: RO
Range: N/A
Size: Unsigned
8
Unit: N/A
Default: 2
Description:
Sub-index 1
Access: RO
Range: 0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 1
Description: Encoder increments
Sub-index 2
Access: RO
Range: 0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 1
Description: Motor revolutions
0x6091
Gear_ratio
Sub-index 0
Access: RO
Range: N/A
Size:
Unsigned 8
Unit: N/A
Default: 2
Description:
Sub-index 1
Access: RW
Range: 0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 1
Description: Motor revolutions
Sub-index 2
Access: RW
Range: 0 to
0xFFFFFFFF
Size:
Unsigned 32
Unit: N/A
Default: 1
Description: Shaft revolutions
Summary of Contents for Digitax ST
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