UK
CANopen encoder
19
7.4 Manufacturer-specific objects from 2000h to 5FFFh
Index S-Idx Name
Type,
access
default value Description
2000
0
Position value
u32, ro
2100
0
Operating
parameters
u16, rw
0h
The counting direction of the encoder as
an operating parameter can be changed
and the two limit switches can be switched
on or off�
The parameter counting direction
(complement) determines the counting
direction of the encoder� With the same
direction of rotation the value can be
indicated either adding or substracting�
The counting direction is set by bit 0 of the
object to 2100h� In addition the two limit
switches can be switched on or off� Bit 1
and bit 2 are used for this purpose�
Note: The counting direction is always
seen looking at the shaft� With clockwise
direction of the shaft (CW) the counting
direction is increasing�
Calculation example:
Goal: encoder with counting direction
decreasing (CCW) and both limit switches
off
Bit matrix:
bit 0 = 1
direction decreasing (CCW)
bit 1 = 0
limit switch min� disabled
bit 2 = 0
limit switch max�disabled
result = 01h
2101
0
Resolution per
revolution
u16, rw
Requested steps per revolution
(single turn resolution up to 12 bits)
0
Resolution per
revolution
u32, rw
Requested steps per revolution
(single turn resolution > 12 bits)
If the requested resolution per revolution
exceeds the physical resolution, the set
value is not transmitted�
► Set correct resolution�
Summary of Contents for RM8004
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