OD_205C_00 Virtual Encoder Configuration

Function

Use this object to configure the virtual encoder output of the CPB.

Object description

Index 205Ch
Object name Virtual Encoder Configuration
Object Code ARRAY
Data type INTEGER16
Savable yes, category: application

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping RX-PDO

Description

You have the option of outputting the actual position via two pins of the controller and passing it on to your PLC or another controller. The maximum frequency here is 200 kHz.

Activating the function of the pins

To activate the function:

  1. Set 3271h:0Eh and 3271h:10h to "3".
  2. Set 2372h:0Eh and 2372h:10h to "1152".

Selecting the type of output signals

You can select one of the following types in object 205Ch02h:

  • Value "0": two 90° phase-shifted channels on channel A (leading when moving in the positive direction) and B, analogous to an incremental encoder
  • Value "1": a clock and direction signal on channel A and B, analogous to the signals in Clock-direction mode.
  • Value "2": two clock signals, analogous to the signals in Right / left rotation mode (CW / CCW mode).

Selecting the source of the position data

The position data of one of the existing feedbacks are reproduced via the encoder output.

To select the source, set bit 3 in the corresponding subindex of object 3203h to "1". If you do not set a bit, the value from 205C:01h is used.

Setting the resolution of the output signals

Define the conversion of source signal into virtual encoder signals via the numerator in 205C:03h and the denominator in 205C:04h.