Keba ServoOne Series, User Manual

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Scaling and weighting
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Scaling and weighting
8 Scaling and weighting
The weighting describes in which physical unit and with how many decimal places
the numerical values in the parameters exchanged between the controller and drives
are to be interpreted. The type of weighting is defined by the parameters for position
weighting, speed weighting, acceleration weighting and torque weighting.
The ServoOne can be scaled either using the higher level controller by writing to the
related parameters via the SERCOS bus, or with the aid of the scaling wizard integrated
into
D
rive
M
anager
5.
8.1 Weighting of position data
The translatory position weighting is defined by the parameters listed in the following
table. This weighting describes the significance of the LSB and the unit for parameter
S-0-0051 and S-0-0053 as well as all other position parameters.
All drive position data (e.g.: reference values, actual values and limits) are subject to the
weighting set. If "no weighting" is selected via parameter S-0-0076, the weighting factor
and weighting exponent have no significance. The position data are then subject to a
weighting defined by other means.
IDN Description
S-0-0076 Weighting type for position data
S-0-0077 Weighting factor for translatory position data
S-0-0078 Weighting exponent for translatory position data
S-0-0079 Rotational position resolution
S-0-0103 Modulo value
Table 8.1 Scaling parameters for position weighting
8.1.1 Weighting, translatory position data
Translatory weighting is selected via S-0-0076. The significance of the LSB for the
translatory position data is defined by the following equation:
Significance LSB = unit · S-0-0077 · 10
S-0-0078
On the selection of translatory preferred weighting, the weighting applies according to
the following table.
Weighting type
(from S-0-0076)
Unit
(from S-0-0076)
Weighting factor
(S-0-0077)
Weighting expo-
nent
(S-0-0078)
Preferred weight-
ing
Linear m 1 -7 0.1 μm
Table 8.2 Preferred weighting, translatory position data
8.1.2 Weighting, rotary position data
Rotary weighting is selected via S-0-0076. The significance of the LSB for the rotary
position data is defined by the rotary position resolution (S-0-0079).
Significance LSB = unit ·
0079 - 0 - S
Umdrehung 1
On the selection of rotary preferred weighting, the weighting applies according to the
following table.
Weighting type
(from S-0-0076)
Unit
(from S-0-0076)
Rotary
position resolution
(S-0-0079)
Preferred weighting
Rotary Degrees 3 600 000 0.0001 degree
Table 8.3 Preferred weighting, rotary position data