Lika AM58K 13/4096CB Series, User Manual

Page: 19 / 56

AM58K CANopen®
5 - Quick reference
5.1 Hardware resolution
WARNING
Make sure the physical resolution of the encoder matches the set resolution.
Different resolutions may be set if the encoder and the connection cap have
been ordered / supplied separately.
Examples
AM58K 13/4096CB-xx
6501-00 Hardware counts per revolution
= 8192,
6502-00 Hardware number of turns
= 4096.
6501-00 Hardware counts per revolution
object is described on page 45.
6502-00 Hardware number of turns object is described on page 45.
If the hardware resolution does not match the ordering code (see encoder label)
then it is compulsory
to set the hardware resolution
(for any information on
reading the hardware resolution refer to section “5.2 Using the default settings”
on page 21).
Please note that the parameters
6001-00 Counts per revolution
and
6002-
00 Total resolution
refer to the scaling function, anyway the unit can run
properly only if the hardware resolution is set correctly.
5.1.1 Procedure to set the hardware resolution
ID = node identifier.
Step 1 - Access to the configuration (object 3002h)
NOTE
To avoid unintentional access, this object is not listed in the EDS file.
Master  Encoder
COB-ID Cmd Index Sub Process data
600+ID 23 02 30 00 41 4B 49 4C
Encoder  Master
COB-ID Cmd Index Sub Process data
580+ID 60 02 30 00 00 00 00 00
Step 2 - Set object 6501-00 Hardware counts per revolution
See resolution table below in the page for B0, B1, B2 and B3 values.
Master  Encoder
COB-ID Cmd Index Sub Process data
600+ID 23 01 65 00 B0 B1 B2 B3
MAN AM58K CB E 1.1.odt 19 5 - Quick reference