96
XtrapulsPac – User Guide
Chapter 3 - Reference
Sub Index
5
Description Encoder Resolution x 4
Data Type
Unsigned32
Object Class
all
Access rw
PDO Mapping
No
Default Value
This parameter defines the resolution (period) of the encoder x 4.
Encoder Position Offset
Index 0x3128
Name
Encoder Position Offset
Object Code
VAR
Data Type
Integer32
Object Class
all
Access rw
PDO Mapping
Yes
Unit User
Position
Unit
Value Range
(-2
31
)..(2
31
-1)
Default Value
0
See Encoder Position (0x3129).
Encoder Position
Index 0x3129
Name Encoder
Position
Object Code
VAR
Data Type
Integer32
Object Class
all
Access ro
PDO Mapping
Yes
Unit User
Position
Unit
Value Range
(-2
31
)..(2
31
-1)
Default Value
-
This object monitors the encoder position:
Encoder_Position = Encoder_Internal_Po Encoder_Position_Offset
Encoder _Position (0x3129) in user position unit is the position given by the encoder. If the position loop feedback
is encoder and modulo function (Position Limit) is not activated, then the encoder position is the same as 0x6064.
Encoder_Internal_Position in user position unit, is the encoder position value related to the initial position at power
on.
Encoder_Position_Offset (0x3128) defines an offset between user position (0x3129) and internal encoder
position. If the position loop feedback is encoder, this offset will be calculated by the homing procedure. At power
on, Encoder_Position_Offset is 0.
If the encoder is absolute multi-turn, the Encoder_Position_Offset is saved in the drive parameter file, and is
restored at power on.
