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 | 02h |
| 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 | 00001000h |
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)