IFM RM8004, Device Manual

Page: 24 / 35

CANopen encoder
24
Index S-Idx Name Type,
access
default value Description
6001 0 Measuring
units per
revolution
u32, rw see
type label
Setting steps per revolution
6002 0 Total
measuring
range in
measuring
units
u32, rw see
type label
Setting the total resolution of the
measuring range
6003 0 Preset value u32, rw 0 Setting the preset value for the encoder
6004 0 Position value u32,
romap
- The object gets the position value
6030 Speed value
If the max� possible value is exceeded,
the value stops there� The user can use
the object 3010 (32 bits)�
0h Number of sub
indices
u8, ro 1h
1h Speed value
channel 1
integer
16, romap
-
6200 0 Event time u16, rw 0x64 This object contains the value of the
event timer of the corresponding PDOs�
The value can be set between 1 and
65538 ms�
6300 Cam state
register
The object describes the cam state
register� The object contains the current
position of the cam from 1 to 8�
0h Number of sub
indices
u8, ro 1h
1h Cam state
channel 1
u8, romap 4h
6301 Cam enable
register
The object describes the cam state�
0h Number of sub
indices
u8, ro 1h
1h Cam enable
channel 1
u8, rw
6302 Cam polarity
register
The object describes the cam behaviour�
0h Number of sub
indices
u8, ro 1h
1h Cam polarity
channel 1
u8, rw 0h
List of cam objects