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 | 03h |
Subindex | 01h - 03h |
Name | Additional Position Encoder Resolution - Encoder Increments Feedback Interface #1 - #3 |
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. The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors.
The resolution of feedback "n" is calculated as follows:
Position Encoder Resolution = Encoder Increments (60E6h:01h) / Motor Revolutions (60EBh:02h)
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.