NANOTEC PD4-E-M, Technical Manual

Page: 44 / 295

Technical Manual PD4-E-M (EtherCAT)
5 General concepts
Speed unit
Object 60A9
h
contains:
• Bits 8 to 15: The time unit (see chapter Units)
• Bits 16 to 23: The position unit (see chapter Units)
• Bits 24 to 31: The exponent of a power of ten (see chapter Units)
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Factor
Nominator (Position)
reserved (00h) Denominator (Time)
Example
If 60A9
h
is written with the value "00B44700
h
" (bits 8-15=00
h
, bits 16-23=B4
h
and bits
24-31=47
h
), the unit is set to revolutions per minute (factory setting).
Example
If 60A9
h
is written with the value "FD010300
h
" (bits 8-15=FD
h
(=-3), bits 16-23=01
h
and bits
24-31=03
h
), the unit is set to millimeters per second.
Note
The speed unit in Velocity mode is preset to revolutions per minute. You can only set the unit via
the 604Ch Vl Dimension Factor.
Conversion factor for the speed unit
You can set an additional factor for the speed unit. Thus, a unit of, e.g., 1/3 revolutions/minute is
possible. The factor n is calculated from the factor for numerator (6096
h
:01
h
) divided by the factor for
denominator (6096
h
:02
h
).
n
velocity
=
6096
h
:02
6096
h
:01
Acceleration unit
The acceleration unit is speed unit per second.
Conversion factor for the acceleration unit
The factor n for the acceleration unit is calculated from the numerator (6097
h
:01
h
) divided by the
denominator (6097
h
:02
h
).
n
acceleration
=
6097
h
:02
6097
h
:01
Version: 1.0.1 / FIR-v1748 44