CANopen Programmer's Manual - Maccon.de

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3: Device Control, Configuration, and Status CANopen Programmer’s Manual MOTOR COUNTS/REV INDEX 0X2383, SUB-INDEX 23 Type Access Units Range Map PDO Memory Integer 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. MOTOR ENCODER RESOLUTION INDEX 0X2383, SUB-INDEX 24 Type Access Units Range Map PDO Memory Integer 16 RW encoder units / count 0 - 32,767 NO F Description Number of Encoder Units (sub-index 21)/ count. Only used with linear motors. MOTOR ELECTRICAL DISTANCE INDEX 0X2383, SUB-INDEX 25 Type Access Units Range Map PDO Memory Integer 32 RW encoder units / cycle 0 - 2,147,483,647 NO F Description Number of Encoder Units (sub-index 21) / motor electrical cycle. Only used with linear motors. RESERVED INDEX 0X2383, SUB-INDEX 26-27 Type Access Units Range Map PDO Memory RESERVED - - - NO F Description Reserved. ANALOG ENCODER SHIFT INDEX 0X2383, SUB-INDEX 28 Type Access Units Range Map PDO Memory Unsigned 16 RW - 0 -10 NO F Description This value gives the number of bits of interpolation to be applied to an analog encoder. The fundamental encoder resolution will be increased by a multiplier of 2 n where n is the value programmed in this parameter. The range of this value is 0 to 8 giving possible multipliers of 1 to 256. MICROSTEPS/REV INDEX 0X2383, SUB-INDEX 29 Type Access Units Range Map PDO Memory Integer 32 RW microsteps - NO F Description Microsteps per revolution for microstepping motors. 96 Copley Controls
CANopen Programmer’s Manual 3: Device Control, Configuration, and Status LOAD ENCODER TYPE INDEX 0X2383, SUB-INDEX 30 Type Access Units Range Map PDO Memory Unsigned 16 RW - See Description, below. NO F Description Also known as Position Encoder Type. This bit-mapped value defines the type of encoder attached to the load: Bits Description 0-2 Encoder Type (see below). 3 Reserved. 4 Linear encoder if set, rotary encoder if clear. 5 Passive load encoder if set. The encoder type codes define the type of encoder. Code Encoder Type 0 No load encoder present. 1 Primary incremental quadrature encoder. 2 Analog encoder. 3 Multi-mode port incremental quadrature encoder. 4 Low frequency analog encoder 5 Resolver. LOAD ENCODER DIRECTION INDEX 0X2383, SUB-INDEX 31 Type Access Units Range Map PDO Memory Unsigned 16 RW - See Description, below. NO F Description Also known as Position Encoder Direction. Load encoder direction. Value 0 for standard, value 1 to reverse direction. LOAD ENCODER RESOLUTION INDEX 0X2383, SUB-INDEX 32 Type Access Units Range Map PDO Memory Integer 32 RW encoder units / count 0 - 2,147,483,647 NO F Description Only used with linear motors. Also known as Position Encoder Resolution. Number of Encoder Units / encoder count. For information, see Encoder Units (Index 0x2383, Sub-Index 21, p. 95). BI-QUAD FILTER COEFFICIENTS INDEX 0X2383, SUB-INDEX 33 Type Access Units Range Map PDO Memory RESERVED - - - NO F Description Reserved. NUMBER OF RESOLVER CYCLES/MOTOR REV INDEX 0X2383, SUB-INDEX 34 Type Access Units Range Map PDO Memory Unsigned 16 - - - NO F Description Number of Resolver Cycles/Motor Rev. This parameter is only used with resolver feedback devices. Copley Controls 97
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