C5-E EtherNetIP/USB Online Manual

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 Highest Sub-index Supported
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)

Tip:

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.

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