CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
3: Device Control, Configuration, and Status <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
ENCODER TYPE CODE INDEX 0X6410, SUB-INDEX 20<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - See Description, below. NO F<br />
Description<br />
Also known as Motor Enco<strong>de</strong>r Type. I<strong>de</strong>ntifies the type of enco<strong>de</strong>r attached to the motor:<br />
Value Description<br />
0 Primary incremental quadrature enco<strong>de</strong>r.<br />
1 No enco<strong>de</strong>r.<br />
2 Analog enco<strong>de</strong>r.<br />
3 Multi-mo<strong>de</strong> port incremental quadrature enco<strong>de</strong>r<br />
4 Analog Halls used for position feedback.<br />
5 Resolver input.<br />
6 Digital Halls.<br />
7 Analog enco<strong>de</strong>r, special.<br />
8 Reserved.<br />
9<br />
10<br />
11<br />
12<br />
Panasonic Minas-A.<br />
SPI Command<br />
SSI<br />
EnDat 2.2<br />
ENCODER UNITS INDEX 0X6410, SUB-INDEX 21<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - See Description, below. NO F<br />
Description<br />
This value <strong>de</strong>fines the units used to <strong>de</strong>scribe linear motor enco<strong>de</strong>rs. It is not used with rotary<br />
motors.<br />
Value Description<br />
0 microns<br />
1 nanometers<br />
2 millimeters<br />
MOTOR ENCODER DIRECTION INDEX 0X6410, SUB-INDEX 22<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - See Description, below. NO F<br />
Description<br />
Motor enco<strong>de</strong>r direction. Value 0 for standard, value 1 to reverse direction.<br />
MOTOR COUNTS/REV INDEX 0X6410, SUB-INDEX 23<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW counts / rev 0 - 2,147,483,647 NO F<br />
Description<br />
For rotary motors gives the number of counts/motor revolution. When a resolver is used as the<br />
motor feedback <strong>de</strong>vice, this parameter sets the resolution of the interpolated position. This<br />
parameter is not used for linear motors.<br />
102 Copley Controls