OD_60E6_03 Additional Position Encoder Resolution - Encoder Increments Feedback Interface #3
Object description
| Index | 60E6h |
| Object name | Additional Position Encoder Resolution - Encoder Increments |
| Object Code | ARRAY |
| Data type | INTEGER32 |
| Savable | yes, category: tuning |
| Access | read only |
| PDO mapping | RX-PDO |
Value description
| Subindex | 03h - nh |
| Name | Additional Position Encoder Resolution - Encoder Increments Feedback Interface #3 |
| Data type | INTEGER32 |
| Access | read / write |
| PDO mapping | RX-PDO |
Description
This subindex contains the number of increments of the corresponding feedback.
Subindex 01h always corresponds to the first (and always existing) sensorless feedback. Subindex 02h corresponds to internal encoder. The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors.
The resolution of feedback "n" is calculated as follows:
Position Encoder Resolution = Encoder Increments (60E6h:nh) / Motor Revolutions (60EBh:nh)
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The value "0" in a subindex means that the respective feedback is not connected and is not used. Thus, it is possible, for example, to switch off the sensorless function to save computing time This can be helpful if a NanoJ program needs the computing time. |