NP5 CANopen Online Manual

33A1h Feedback Incremental A/B/I 2

Function

Contains configuration values for the second incremental encoder. The values are determined by the Auto setup.

Object description

Index 33A1h
Object name Feedback Incremental A/B/I 2
Object Code ARRAY
Data type UNSIGNED16
Savable yes, category: tuning
Access read only
PDO mapping RX-PDO
Allowed values
Preset value
Firmware version FIR-v1748-B533384
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 0000h
Subindex 02h
Name Alignment
Data type UNSIGNED16
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 0000h

Description

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.
  • 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.

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