AMT58x-EC EtherCAT®
49
Device profile objects
6000-00 Operating parameters
[Unsigned16, rw]
Bit
Function
bit = 0
bit = 1
0
Code sequence
CW
(clockwise)
CCW
(counter
clockwise)
1 not
used
2
Scaling function
disabled enabled
3 …
15
not used
Default = 0000h
Code sequence
This is intended to set if the encoder counting increments either
when the shaft is rotating clockwise (CW) or when the shaft is
rotating counter-clockwise (CCW). CW and CCW rotations are
viewed from shaft end. Setting 0 (bit 0 = 0) causes the encoder
counting to increment when the shaft is rotating clockwise; setting 1
(bit 0 = 1) causes the encoder counting to increment when the shaft
is rotating counter-clockwise.
Scaling function
This is meant to enable / disable the scaling parameters
6001-00
Counts per revolution
and
6002-00 Total resolution
. When the
scaling function is disabled (bit 2 = 0), the encoder uses its own
physical resolution (i.e. hardware counts per revolution and number
of hardware revolutions, see the encoder identification label and the
objects
6501-00 Hardware counts per revolution
and
6502-00
Hardware number of turns
); otherwise, when the scaling function is
enabled (bit 2 = 1), the encoder uses the resolution set next to the
parameters
6001-00 Counts per revolution
and
6002-00 Total
resolution
complying with the following relation:
Transmitte
d position
=
6001-00 Counts per
revolution
x Real position
≤
6002-00 Total
resolution
6501-00 Hardware counts
per revolution
6001-00 Counts per revolution
[Unsigned32, rw]
This object sets the number of distinguishable steps per revolution.
This value is considered only if the bit 2
Scaling function
in the
6000-00 Operating parameters
item is set to “=1”.
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