NP5 EtherCAT 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 04h
Subindex 01h
Name Additional Position Encoder Resolution - Encoder Increments Feedback Interface #1
Data type INTEGER32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00320000h
Subindex 02h
Name Additional Position Encoder Resolution - Encoder Increments Feedback Interface #2
Data type INTEGER32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 000000C8h
Subindex 03h
Name Additional Position Encoder Resolution - Encoder Increments Feedback Interface #3
Data type INTEGER32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000001h
Subindex 04h
Name Additional Position Encoder Resolution - Encoder Increments Feedback Interface #4
Data type INTEGER32
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 increments of the corresponding feedback.

    Subindex 01h always corresponds to the first (and always existing) sensorless feedback.

The resolution of feedback "n" is calculated as follows:

Position Encoder Resolution = Encoder Increments (60E6h:01h) / Motor Revolutions (60EBh:02h)

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