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

608Fh

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