60E6h Additional Position Encoder Resolution - Encoder Increments Function With this object and with 60EBh, the resolution of each existing feedback is calculated. Object description Index 60E6h Object name Additional Position Encoder Resolution - Encoder Increments Object Code ARRAY Data type INTEGER32 Savable yes, category: tuning Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1748-B538662 Change history Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 02h Subindex 01h - 02h Name Additional Position Encoder Resolution - Encoder Increments Feedback Interface #1 - #2 Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains the number of increments of the corresponding feedback. Subindex 01h always corresponds to the first (and always existing) sensorless feedback. Subindex 02h corresponds to internal encoder. The resolution of feedback "n" is calculated as follows: Position Encoder Resolution = Encoder Increments (60E6h:01h) / Motor Revolutions (60EBh:02h) Note: The value "0" in a subindex means that the respective feedback is not connected and is not used. Thus, it is possible, for Example, to switch off the sensorless function to save computing time. This can be helpful if a NanoJ program needs the computing time. If a value is not equal to "0" in a subindex, the controller checks the corresponding sensor when switching on. In case of an error (signal not present, invalid configuration/state), the error bit is set in the statusword and an error code stored in object 1003h.
60E6h Additional Position Encoder Resolution - Encoder Increments Function With this object and with 60EBh, the resolution of each existing feedback is calculated. Object description Index 60E6h Object name Additional Position Encoder Resolution - Encoder Increments Object Code ARRAY Data type INTEGER32 Savable yes, category: tuning Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1748-B538662 Change history Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 02h Subindex 01h - 02h Name Additional Position Encoder Resolution - Encoder Increments Feedback Interface #1 - #2 Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains the number of increments of the corresponding feedback. Subindex 01h always corresponds to the first (and always existing) sensorless feedback. Subindex 02h corresponds to internal encoder. The resolution of feedback "n" is calculated as follows: Position Encoder Resolution = Encoder Increments (60E6h:01h) / Motor Revolutions (60EBh:02h) Note: The value "0" in a subindex means that the respective feedback is not connected and is not used. Thus, it is possible, for Example, to switch off the sensorless function to save computing time. This can be helpful if a NanoJ program needs the computing time. If a value is not equal to "0" in a subindex, the controller checks the corresponding sensor when switching on. In case of an error (signal not present, invalid configuration/state), the error bit is set in the statusword and an error code stored in object 1003h.
Object description Index 60E6h Object name Additional Position Encoder Resolution - Encoder Increments Object Code ARRAY Data type INTEGER32 Savable yes, category: tuning Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1748-B538662 Change history
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 02h Subindex 01h - 02h Name Additional Position Encoder Resolution - Encoder Increments Feedback Interface #1 - #2 Data type INTEGER32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000000h
Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains the number of increments of the corresponding feedback. Subindex 01h always corresponds to the first (and always existing) sensorless feedback. Subindex 02h corresponds to internal encoder. The resolution of feedback "n" is calculated as follows: Position Encoder Resolution = Encoder Increments (60E6h:01h) / Motor Revolutions (60EBh:02h) Note: The value "0" in a subindex means that the respective feedback is not connected and is not used. Thus, it is possible, for Example, to switch off the sensorless function to save computing time. This can be helpful if a NanoJ program needs the computing time. If a value is not equal to "0" in a subindex, the controller checks the corresponding sensor when switching on. In case of an error (signal not present, invalid configuration/state), the error bit is set in the statusword and an error code stored in object 1003h.
