EtherCAT interface
66
AMS 338
i
Leuze electronic GmbH + Co. KG
Object 2020
h
Velocity
Outputs the current velocity with the configured resolution. The unit (metric or inch) is set in
object 2000 sub-index 02 and also applies to the velocity. If no change is made in object 2000
sub-index 02, the AMS 338
i
uses the default setting "metric".
The sign of the velocity is dependent on the counting direction in object 2000 sub-index 04.
In the default setting, a positive velocity is output when the reflector moves away from the
AMS 338
i
. When the reflector moves toward the AMS 338
i
, negative velocities are output. If
the "negative" counting direction is configured in object 2000 sub-index 04, the velocity sign
is reversed.
The response time for the velocity averages all calculated velocity values over the set time
to form one velocity value. This averaged velocity value is output via the interface.
The velocity value is mapped to process data objects 1A02
h
and 1A03
h
.
Sub-index 01
The current velocity is output with the configured resolution. The unit (metric or inch) is set
in object 2000 sub-index 02 and also applies to the velocity.
Index
Sub-
index
Name
Data type
Access
Value range
Comment
(hex)
(hex)
Minimum
Maximum
Default
2020
01
Velocity
resolution u8
rw
1
5
1
Value 1: = 1
Value 2: = 10
Value 3: = 100
Value 4: = 1000
Value 5: = free
resolution
02
Response
time for
velocity
u8
rw
0
6
3
Unit ms
Value 0: = 2
Value 1: = 4
Value 2: = 8
Value 3: = 16
Value 4: = 32
Value 5: = 64
Value 6: = 128
03
Free
velocity
resolution
u16
rw
5
50000
1000
The configured
value is multi
-
plied in
mm/1000/s or in/
100000/s.
04
Velocity
value
int 32
ro
-999999
999999
--
See below
