ST_AxisParameters

This data type contains basic necessary axis parameters.

TYPE ST_AxisParameters :
STRUCT
    EncoderScalingFactor    : LREAL := 360.0/4096.0;  // Default for 360° and 4096 increments per revolution
    MaxVelocity             : LREAL := 3600.0;       // Default for 10 revolutions per second

    ModuloFactor            : LREAL := 360.0;
END_STRUCT
END_TYPE

Formula for calculating the parameters:

ST_AxisParameters 1:
ST_AxisParameters 2:

Motor speed Limitation

"Motor speed limitation" depends on the configured voltage and the motor used. For the servo terminals, this value can be read from CoE object 0x8011:1B, for example.