33A0h Feedback Incremental A/B/I 1
Function
Contains configuration values for the first incremental encoder. The values are determined by the Auto setup.
Object description
Index | 33A0h |
Object name | Feedback Incremental A/B/I 1 |
Object Code | ARRAY |
Data type | UNSIGNED16 |
Savable | yes, category: tuning |
Access | read only |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | |
Firmware version | FIR-v1738-B501312 |
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 |
Name | Configuration |
Data type | UNSIGNED16 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 8001h |
Subindex | 02h |
Name | Alignment |
Data type | UNSIGNED16 |
Access | read / write |
PDO mapping | RX-PDO |
Allowed values | |
Preset value | 0000h |
Description
The subindices have the following function:
- 01h (Configuration): The following bits have a meaning:
- Bit 0: Value = "0": The encoder does not have an index. Value = "1": Encoder index exists and is to be used.
- Bit 15: Value = "1": The encoder is a single-turn absolute encoder.
- 02h (Alignment): This value specifies the offset between the index of the encoder and the rotor's magnets.
The exact determination is possible via auto setup. The presence of this value is necessary for closed-loop mode with encoder.