NP5 CANopen Online Manual

60EBh Additional Position Encoder Resolution - Motor Revolutions

Function

With this object and with 60E6h, the resolution of each existing feedback is calculated.

Object description

Index 60EBh
Object name Additional Position Encoder Resolution - Motor Revolutions
Object Code ARRAY
Data type UNSIGNED32
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 04h
Subindex 01h - 04h
Name Additional Position Encoder Resolution - Motor Revolutions Feedback Interface #1 - #4
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000001h

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 motor revolutions 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:nh) / Motor Revolutions (60EBh:nh)

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