Balluff BDG F-NH Series, Configuration Manual

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Step 3: Activating the new mapping
To activate the new mapping, the new number of mapped objects must be written into sub-index 0 of the mapping
parameter object. In our example three objects are mapped, therefor sub-index 0 has to be set to 03h.:
600h+ID 8 2Fh 00h 1Ah 00h 03h 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.60: Mapping parameter
– activate new mapping
The re-mapping of PDO1 is now completed and valid, but it should be saved into the EEPROM (see 8.12).
8.6 Changing resolu tion an d direction
•
To change resolution and direction of the encoder the scaling option has to be
activated.
•
While activating the scaling you can change the counting direction (clockwise
(CW) or counter-clockwise (CCW) in one step (default setting is CW)).
•
The counting direction is referred to the movement of the axis when looking onto
the flange side of the encoder.
The object for this configuration is 6000h sub-index 00h. Here is the list of possible settings:
Code Byte 0 Scaling Direction
00h OFF Clockwise (CW)
01h OFF Counter-clockwise (CCW)
04h (default) ON Clockwise (CW)
05h ON Counter-clockwise (CCW)
Table 8.61: Counting direction and scaling parameters
This is an example how to set the "operating parameters" object 6000h to "scaling ON" and "CCW":
600h+ID 8 2Bh 00h 60h 00h 05h 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.62: Example setting operating parameters
The encoder responds with a standard SDO acknowledge. Now scaling is active and the two scaling parameters
"measuring range per revolution" and "total measuring range" are applied. Singleturn resolution and total
measuring range can now be changed.
•
The measuring range per revolution or singleturn resolution is the number of units (bit) per
revolution.
•
The total measuring range is the singleturn resolution multiplied with the number of countable
revolutions (multiturn resolution).
Example: Singleturn resolution: 4096 steps per revolution = 12 bit = 10 00h Total measuring range: 536 870 912
units = 29 bit = 20 00 00 00h ) => Max. Multiturn resolution: 29 Bit - 12 Bit = 17 Bit = 131072 revolutions (02 00
00h)