CL3-E CANopen/USB Technical Manual

User-defined units

Overview

Settings

The motor controller supports the possibility of setting user-defined units. In this way, the corresponding parameters can be set and read out directly in degrees, mm, etc.

Pole pair count compensation

Differences in the pole pair counts of motors can be compensated. For this purpose, the value in object 2060_h must be set to "1". Then the pole pair count automatically enters the subsequent computation so that different motors can be operated on the motor controller without requiring a new configuration.

Factor

There is a factor for the units velocity, acceleration and jerk. It gets either multiplied by the input value or divided by the output value.

Computation formulas for user units

Gear ratio

The gear ratio is calculated from the motor revolutions (6091_h:1_h (Motor Revolutions)) per shaft revolution (6091_h:2_h (Shaft Revolutions)) as follows:

If object 6091_h:1_h or object 6091_h:2_h are set to "0", the firmware sets the value to "1".

Feed constant

The feed constant is calculated from the feed (6092_h:1_h (Feed Constant) per revolution of the drive axis (6092_h:2_h (Shaft Revolutions) as follows:

This is useful to indicate the spindle pitch of a linear axis.

If object 6092_h:1_h or object 6092_h:2_h are set to "0", the firmware sets the value to "1".

Position

The current position in user units (6064_h) is calculated as follows:

Speed

The speed specifications of the following objects can likewise be specified in user units:

Object	Mode	Meaning
606B_h	Profile Velocity Mode	Output value of ramp generator
60FF_h	Profile Velocity Mode	Speed specification
6099_h	Homing mode	Speed for searching the index/switch
6081_h	Profile Position Mode	Target speed
6082_h	Profile Position Mode	End speed

The internal unit is rounds per second.

The factor n for the speed is calculated by the factor for the numerator (2061_h) divided by the factor for the denominator (2062_h).

For the input of values it is applied: internal value = n_velocity x input value

For the output values it is applied: output value = internal value / n_velocity

Example
	2061_h is set to the value "1", 2062_h to the value "60". Therefore the user unit is "Rounds per minute" and n_velocity = 1/60.
	When the 60FF_h is set to the value "300", the internal value will get set to 300 r/min x 1/60 = 5 r/s.
	When the motor turns with a internal speed of 5 r/s the object 606B_h will get filled with a speed of 5 / 1/60 = 300 r/min.

If object 2061_h or 2062_h is to be set to "0", the firmware sets the value to "1".

Acceleration

The acceleration can also be output in user units:

Object	Mode	Meaning
609A_h	Homing mode	Acceleration
6083_h	Profile Position Mode	Acceleration
6084_h	Profile Position Mode	Deceleration
60C5_h	Profile Velocity Mode	Acceleration
60C6_h	Profile Position Mode	Deceleration
6085_h	"Quick stop active" state (DS402 Power State machine)	Deceleration

The internal unit for acceleration is rounds per second².

The factor n for the acceleration is calculated by the factor for the numerator (2063_h) divided by the factor for the denominator (2064_h).

For the input of values it is applied: internal value = n_acceleration x input value

Example
	2063_h is set to the value "1", 2064_h to the value "60". Therefor the user unit is "rounds per second per minute" and n_acceleration = 1/60.
	When the 60C5_h gets set to the value "600", the internal value will get set to 600 r/(s*min) x 1/60 = 10 r/s².

If object 2063_h or 2064_h is to be set to "0", the firmware sets the value to "1".

Jerk

For the jerk, objects 60A4_h:1_h to 60A4_h:4_h can be specified in user units. These objects only affect the Profile Position Mode and Profile Velocity Mode.

The internal unit for jerk is rounds per second³.

The factor n for the acceleration is calculated by the factor for the numerator (2065_h) divided by the factor for the denominator (2066_h).

For the input of values it is applied: internal value = n_jerk x input value

Example
	2063_h is set to the value "1", 2064_h to the value "60". Therefore the user unit is set to "rounds per seconds² per minute" and n_Jerk = 1/60.
	When the 60A4_h is set to "500", the internal value will get set to 500 r/(min * s²) x 1/60 = 8,3 r/s³.

If object 2065_h or 2066_h is to be set to "0", the firmware sets the value to "1".

Positional data

All positional values in the open loop and closed loop mode are specified in the resolution of the virtual position encoder. This is calculated from the encoder cycles (608F_h:1_h (Encoder Increments)) per motor revolutions (608F_h:2_h (Motor Revolutions)) multiplied by the polarity of the axis in object 607E_h bit 0. If bit 0 in object 607E_h is set to the value "1", this corresponds to a polarity reversal, or the value "-1" in the formula:

If the value of 608F_h:1_h or 608F_h:2_h are set to "0", the motor controller continues computing internally with a "1". The factory settings are:

Encoder increments 608F_h:1_h = "2000"
Motor revolutions 608F_h:2_h = "1"
Polarity 607E_h bit 0 = "0" (does not correspond to a polarity reversal)

The resolution of the connected position encoder is set in object 2052_h.

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