Init Parameter

Scaling

Name	Default value	Unit	Type
Velocity Scaling Numerator to Hardware	1.0	INC/([PosUnit]/s)	LREAL
Velocity Scaling Denominator to Hardware	1.0		LREAL
Direction Inverted	`FALSE`		BOOL
Output Zero Offset	0.0	%	LREAL

Velocity Scaling Numerator to Hardware

Velocity Scaling Numerator To Hardware is used to calculate the analog output value based on the velocity setpoint.

Velocity Scaling Denominator to Hardware

Velocity Scaling Denominator To Hardware is used to calculate the analog output value based on the velocity setpoint.

Direction Inverted

The Direction Inverted parameter can reverse the counting direction of the encoder or drive:

FALSE: The polarity of the axis movement agrees with the counting direction of the acquisition hardware.
TRUE: The polarity of the axis movement is in the opposite sense to that of the counting direction of the acquisition hardware.

WARNING

Risk of injury from unexpected movements

If the counting direction of the encoder and the motor polarity do not match, the axis will perform unexpected movements.

When commissioning the system, make sure that the drive's direction of rotation is set correctly.
Always maintain a safe distance.

Output Zero Offset

Output Zero Offset indicates the output at zero velocity as a percentage of the maximum output range (+-32767 for analog drives).

Connection

Name		Default value	Type
AMS address		0.0.0.0.0.0:0
	.netId	0.0.0.0.0.0	AMSNETID
	.port	0x0000	WORD
Channel Number		0	UDINT
EtherCAT Slave Oid		00000000	OTCID

AMS address

Information about the address of the assigned hardware drive (read-only); no manual configuration is required. It is used for communication purposes.

Channel Number

Information about the channel number of the assigned hardware drive (read-only); no manual configuration is required. It is used for communication purposes.

EtherCAT Slave Oid

Object ID of the EtherCAT slave.

Dead Time Compensation

A requirement for high-precision conversion of positions into times and vice versa is precise dead time compensation of the axes.

Name	Default value	Unit	Type
Dead Time Compensation	NonlinearShift		MC.EDeadTimeCompensationMode
Additional Time Shift to Hardware	0.0	ms	LREAL

Dead Time Compensation

Specify how the compensated target position and actual position are to be calculated. The dead time is automatically determined during EtherCAT initialization.

Additional Time Shift to Hardware

Additional time shift of the automatically determined dead time for target position compensation.