Position and Velocity Scaling

Output Scaling Factor

Position and Velocity Scaling 1:
Position and Velocity Scaling 2:
Position and Velocity Scaling 3:

Output Scaling Factor (Position)

Usually the drive parameter Output Scaling Factor (Position) does not cause any effect. To avoid that a future use of the parameter changes the behavior, the user should basically not change the default value 1.0 of this parameter.

The position output scaling is already set by the encoder input scaling. Regularly, the position input scaling corresponds to the position output scaling for a drive. For this reason, the drive parameter Output Scaling Factor (Position) is currently not evaluated. Instead, scaling is performed exclusively by the encoder parameters Scaling Factor Numerator and Scaling Factor Denominator, which must be adjusted for accurate scaling.

Output Scaling Factor (Velocity)

If a drive controller operates in velocity pre-control mode, the NC output value must be scaled. There are two ways for this scaling, depending on the type of drive controller used.

  1. Analog drive controllers, e.g. supplied by a ±10 V terminal:
  2. This type of drive controller is scaled by applying the parameter Reference Velocity.
  3. Digital drive controllers to which an absolute digital velocity command value is transferred, e.g. CANopen DS402:
  4. This type of drive controller is scaled by applying the parameter Output Scaling Factor (Velocity).

Below is a tabular comparison of when to apply the parameter Reference Velocity or the parameter Output Scaling Factor (Velocity).

Drive type

Scaling with
Reference Velocity

Scaling with
Output Scaling Factor
(Velocity)

M2400_DAC1

x

 

M2400_DAC2

x

 

M2400_DAC3

x

 

M2400_DAC4

x

 

KL4XXX

x

 

KL4XXX_NONLINEAR

x

 

TWOSPEED

x

 

STEPPER

x

 

SERCOS

 

x

KL5051

x

 

AX2000_B200

 

x

SIMO611U

 

x

UNIVERSAL

x

 

NCBACKPLANE

x

 

CANOPEN_LENZE

 

x

DS402_MDP742

 

x

AX2000_B900

x

 

AX2000_B310

x

 

AX2000_B100

x

 

KL2531

 

x

KL2532

 

x

TCOM_DRV

 

x

MDP_733

 

x

MDP_703

x

(x)*

*Also possible, but should be left at the value 1.0.

Output Delay (Velocity)

Position and Velocity Scaling 4:
Position and Velocity Scaling 5:
Position and Velocity Scaling 6:

The output of the velocity value can be delayed by the time Output Delay (Velocity).

Minimum /Maximum Drive Output Limitation [-1.0 … 1.0]

Position and Velocity Scaling 7:
Position and Velocity Scaling 8:
Position and Velocity Scaling 9:

Minimum Drive Output Limitation [-1.0 … 1.0]

To limit the velocity and thus protect the hardware, a lower limit can be set for driving the axis. If only part of the output data type is valid, the minimum output value must be limited. Minimum Drive Output Limitation is a directional limitation of the total output. The value 1.0 corresponds to an unlimited output of 100 %. As a rule, the use of this parameter concerns a velocity output signal for the drive in connection with position control. In exceptional cases, the application of this parameter may concern a torque value or a current value.

Maximum Drive Output Limitation [-1.0 … 1.0]

To limit the velocity and thus protect the hardware, an upper output limit can be set for driving the axis. If only part of the output data type is valid, the maximum output value must be limited. The Maximum Drive Output Limitation is a direction-dependent limitation of the total output. The value 1.0 corresponds to an unlimited output of 100 %. As a rule, the use of this parameter concerns a velocity output signal for the drive in connection with position control. In exceptional cases, the application of this parameter may concern a torque value or a current value.