CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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3: Device Control, Configuration, and Status <strong>CANopen</strong> Programmer’s <strong>Manual</strong><br />
LOAD ENCODER TYPE INDEX 0X6410, SUB-INDEX 30<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 16 RW - See Description, below. NO F<br />
Description<br />
Also known as Position Enco<strong>de</strong>r Type. This bit-mapped value <strong>de</strong>fines the type of enco<strong>de</strong>r<br />
attached to the load:<br />
Bits Description<br />
0-2 Enco<strong>de</strong>r Type (see below).<br />
3 Reserved.<br />
4 Linear enco<strong>de</strong>r if set, rotary enco<strong>de</strong>r if clear.<br />
5 Passive load enco<strong>de</strong>r if set.<br />
The enco<strong>de</strong>r type co<strong>de</strong>s <strong>de</strong>fine the type of enco<strong>de</strong>r.<br />
Co<strong>de</strong> Enco<strong>de</strong>r Type<br />
0 No load enco<strong>de</strong>r present.<br />
1 Primary incremental quadrature 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 Low frequency analog enco<strong>de</strong>r<br />
5 Resolver.<br />
LOAD ENCODER DIRECTION INDEX 0X6410, SUB-INDEX 31<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - See Description, below. NO F<br />
Description<br />
Also known as Position Enco<strong>de</strong>r Direction. Load enco<strong>de</strong>r direction. Value 0 for standard, value 1<br />
to reverse direction.<br />
LOAD ENCODER RESOLUTION INDEX 0X6410, SUB-INDEX 32<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW enco<strong>de</strong>r units / count 0 - 2,147,483,647 NO F<br />
Description<br />
Only used with linear motors. Also known as Position Enco<strong>de</strong>r Resolution. Number of Enco<strong>de</strong>r<br />
Units / enco<strong>de</strong>r count. For information, see Enco<strong>de</strong>r Units (In<strong>de</strong>x 0x2383, Sub-In<strong>de</strong>x 21, p. 95).<br />
MOTOR GEAR RATIO INDEX 0X6410, SUB-INDEX 33<br />
Type Access Units Range Map PDO Memory<br />
Integer 32 RW - - NO F<br />
Description<br />
This parameter may be used to store gear ratio information for dual enco<strong>de</strong>r systems where a<br />
gearbox sits between the two enco<strong>de</strong>rs. This parameter is not used by the firmware and is<br />
supported as a convenience to the CME program.<br />
NUMBER OF RESOLVER CYCLES/MOTOR REV INDEX 0X6410, SUB-INDEX 34<br />
Type Access Units Range Map PDO Memory<br />
Integer 16 RW - - NO F<br />
Description<br />
Number of Resolver Cycles/Motor Rev. This parameter is only used with resolver feedback<br />
<strong>de</strong>vices.<br />
104 Copley Controls