Technical Manual
Absolute Multiturn Encoders
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Object 2130h: Encoder Measuring Step
This Object is used to govern how the speed output occurs. Under
Object 2130,sub2
Speed
Measuring Step, a parameter is provided as the multiplier for a unit factor. Under
Object
2130,sub3
Speed Average Value, the number of measured values required to create the moving average is
entered. The maximum range of values is 1...32. The speed output occurs either as
RPM
or as the
number of
steps per second
.
Using the parameter
Object 2130,sub1
Position Measuring Value it is possible, for example, to specify
the circumference of a measuring wheel so that the position can be read out in mm.
Data content:
Range of values : see table
2130h Sub 1 Position Measuring Value Default setting : 1
2130h Sub 2 Speed Measuring Step Default setting : 1
2130h Sub 3 Speed average value Default setting : 10
Object 1029h Error Behaviour
If a serious error is detected, then the device should automatically switch to
Pre-Operational
mode. The
settings in this Object can be used to determine how the device is to behave when an error arises. The
following error classes are covered.
1029h,Subindex 1 Communication Errors
•
Bus Off state of the CAN interface
•
Life guarding event has occurred
•
Heartbeat monitoring has failed
1029h,Subindex 2 Device Profile Specific
•
Sensor error and Controller error
•
Temperature
error
The value of the Object classes is put together as follows:
Range of values: 8-bit
•
0 Pre-Operational Mode (only if Operational Mode was active before)
•
1 no change of mode
•
2 Stopped Mode
•
3 .. 127 reserved
Objects not mentioned
All Objects not mentioned here serve as additional information and can be found in the CANLift Profile.
