2052h Encoder Resolution
Function
Contains the physical resolution of the encoder that is used for commutation.
Object description
| Index | 2052h |
| Object name | Encoder Resolution |
| Object Code | VARIABLE |
| Data type | INTEGER32 |
| Savable | yes, category: tuning |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 00000000h |
| Firmware version | FIR-v1426 |
| Change history |
Firmware version FIR-v1540: "Savable" entry changed from "no" to "yes, category: tuning". |
Description
A negative value means that the encoder is driven in the opposite direction of the motor. This can be corrected by reversing the polarity of a motor winding.
Tip: The unit is "pulses per revolution" (ppr), which corresponds to four times the resolution in "counts per revolution" (cpr) (quadrature). This means that for an encoder with a resolution of, e.g., 1000 increments per revolution, the value in 2052h is 4000.