Object 608Fh: Position encoder resolution (DS402)
The position encoder resolution defines the ratio of encoder increments per motor revolution on the CANopen end. Encoder increments are set either directly by subindex 1 (only powers of 2 available) or implicit by writing to the parameter FB1.PSCALE.
|
Index |
|
|
Name |
Position encoder resolution |
|
Object Code |
ARRAY |
|
Data Type |
UNSIGNED 32 |
|
Category |
optional |
|
Subindex |
0 |
|
Name |
highest sub-index supported |
|
Data type |
UNSIGNED8 |
|
Category |
mandatory |
|
Access |
R/O |
|
PDO Mapping |
not possible |
|
Value Range |
2 |
|
Default Value |
2 |
|
Subindex |
1 |
|
Name |
Encoder increments |
|
Category |
mandatory |
|
Access |
R/W |
|
PDO Mapping |
not possible |
|
Value Range |
UNSIGNED 32 |
|
Default Value |
2^20 |
|
Subindex |
2 |
|
Name |
Motor revolutions |
|
Category |
mandatory |
|
Access |
R/W |
|
PDO Mapping |
not possible |
|
Value Range |
UNSIGNED 32 |
|
Default Value |
1 |
