CANopen Programmer's Manual - Maccon.de

3: Device Control, Configuration, and Status CANopen Programmer’s Manual
ENCODER TYPE CODE INDEX 0X6410, SUB-INDEX 20
Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Also known as Motor Encoder Type. Identifies the type of encoder attached to the motor:
Value Description
0 Primary incremental quadrature encoder.
1 No encoder.
2 Analog encoder.
3 Multi-mode port incremental quadrature encoder
4 Analog Halls used for position feedback.
5 Resolver input.
6 Digital Halls.
7 Analog encoder, special.
8 Reserved.
9
10
11
12
Panasonic Minas-A.
SPI Command
SSI
EnDat 2.2
ENCODER UNITS INDEX 0X6410, SUB-INDEX 21
Type Access Units Range Map PDO Memory
Integer 16 RW - See Description, below. NO F
Description
This value defines the units used to describe linear motor encoders. It is not used with rotary
motors.
Value Description
0 microns
1 nanometers
2 millimeters
MOTOR ENCODER DIRECTION INDEX 0X6410, SUB-INDEX 22
Type Access Units Range Map PDO Memory
Unsigned 16 RW - See Description, below. NO F
Description
Motor encoder direction. Value 0 for standard, value 1 to reverse direction.
MOTOR COUNTS/REV INDEX 0X6410, SUB-INDEX 23
Type Access Units Range Map PDO Memory
Unsigned 32 RW counts / rev 0 - 2,147,483,647 NO F
Description
For rotary motors gives the number of counts/motor revolution. When a resolver is used as the
motor feedback device, this parameter sets the resolution of the interpolated position. This
parameter is not used for linear motors.
102 Copley Controls