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 | 02h |
Subindex | 01h - 02h |
Name | Additional Position Encoder Resolution - Motor Revolutions Feedback Interface #1 - #2 |
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. Subindex 02h corresponds to internal encoder.
The resolution of feedback "n" is calculated as follows:
Position Encoder Resolution = Encoder Increments (60E6h:nh) / Motor Revolutions (60EBh:nh)