Motor_Parameters (Motor_Step

Index.Sub

2012.1H

Data Type

Unsigned16

Access

Read/Write

PDO Mappable

RX_PDO ⁽¹⁾

Unit

--

Range

1; 2; 4; 5; 8; 10; 16; 25; 32; 50; 64; 125; 128; 250; 256; 65535

Default Value

1

Store Supported

Yes

Description

The Motor_Step_Angle and Motor_Pole_Pairs are used to define the motor resolution. See Motor_Parameters (Motor_Pole_Pairs).

Motor_Resolution (Inc/rev) = (Motor_Pole_Pairs * 6) * Motor_Step_Angle

If ‘Motor_Step_Angle’ value is 65535⁽²⁾, the number of motor Increments per revolution is:

Motor_Resolution (Inc/rev) = 65536

Notes

⁽¹⁾ available with firmware V03r02 or superior.

This object cannot be modified when ‘Operation Enable’ State is active.
If the value set is not valid the default value is stored.
See Factor Group.
See Motor_Parameters (Motor_Pole_Pairs) (2012.2H object) and Motor_Resolution (60EF.0H object).
With firmware V03r16 or lower the motor resolution is defined with Motor_Parameters (Motor_Step_Angle) and Motor_Parameters (Motor_Pole_Pairs) objects. In this case, Motor_Resolution object is read only and returns the motor resolution value.

With firmware V03r17 or superior the motor resolution can be defined with Motor_Resolution object or Motor_Step_Angle, Motor_Pole_Pairs objects.

If Motor_Resolution object value is 0 then the motor resolution is defined with Motor_Step_Angle and Motor_Pole_Pairs objects (for compatibility reasons).

A value of Motor_Resolution object other than zero defines directly the motor resolution (Motor_Step_Angle object is not considered and only Motor_Pole_Pairs object have to be defined).

Motor_Parameters (Motor_Step_Angle)