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Chapter 3 - Device Profile
CD1-k – CANopen Communication Profile
Sub Index
3
Name
Encoder Position Actual Value
Object Code
VAR
Data Type
Integer32
Object Class
all
Access ro
PDO Mapping
No
Unit Inc
This object returns the absolute position value, for an absolute encoder type, or the incremental position value, for
an incremental encoder type. For an absolute encoder type, this position value is only valid when the encoder is at
standstill. When the encoder is moving, this position value is wrong because of the acquisition delay via the
encoder communication channel (up to 60 ms).
Remark : The polarity of the encoder position (object 3216 sub 3) depends on the encoder wiring and can be
reversed with regard to the polarity of the position loop feedback (object 6064). In this case, if necessary, use the
object 607E to reverse the position loop feedback polarity, in order to get the same polarity in both positions.
3.13.14.2 - Object 3215h: Absolute encoder position Reset procedure
Index 3215h
Name
Absolute position Reset procedure
Object Code
VAR
Data Type
Unsigned32
Object Class
-
Access wo
PDO Mapping
No
Writing to this object will execute the reset procedure for the absolute position. In order to avoid running the
absolute position reset procedure by mistake, the procedure is only executed when a specific signature is written
to this object.
If the signature is 'razp', the procedure sets at 0 the encoder absolute position value. The absolute position offset
value is calculated accordingly. For an absolute rotary encoder, this operation must be executed out of the
operation travel range in order to avoid absolute position roll-over.
Signature MSB
LSB
ASCII p
z
a r
hex 70h 7Ah 61h 72h
If the signature is 'setp', the procedure sets the encoder absolute position value at the center of the encoder
absolute position range. The absolute position offset value is calculated accordingly. This operation is only valid
for an absolute rotary encoder; it must be executed at the middle point of the axis travel range.This adjustment
allows to overcome the roll-over phenomena.
Signature MSB
LSB
ASCII p
t
e s
hex 70h 74h 65h 73h
3.13.14.3 - Object 3219h: Absolute encoder Position offset
Index 3219h
Description
Encoder absolute position offset
Data Type
Unsigned32
Access rw
PDO Mapping
No
Default Value
0
This parameter defines the encoder absolute position offset value. This offset value is calculated when the
absolute position reset procedure is executed. The max. value (modulo) for an absolute single-turn encoder is
object 3216 sub 1 value. The max. value (modulo) for an absolute multi-turn encoder is object 3216 sub 1 value x
object 3216 sub 2 value.The scaling is given by object 3216 sub 1 (number of increments per revolution). This
parameter is saved in the amplifier EEPROM.