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 |
|
| 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.
| |
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.
|
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 | Unit | 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 | None |
| ||
| Additional Time Shift to Hardware | 0.0 | ms | LREAL |
Dead Time Compensation
Specify how the compensated setpoint and actual value should be calculated. The dead time is automatically determined during EtherCAT initialization.
Dead Time Compensation to Hardware
Time required to adjust the automatically calculated dead time for setpoint compensation.