NANOTEC PD4-E-M, Technical Manual

Page: 280 / 295

Technical Manual PD4-E-M (EtherCAT)
10 Description of the object dictionary
The feed constant of feedback "n" is calculated as follows:
Feed Constant = Feed (60E9
h
:n
h
) / Driving Shaft Revolutions (60EE
h
:n
h
)
60EBh Additional Position Encoder Resolution - Motor Revolutions
Function
With this object and with 60E6
h
, the resolution of each existing feedback is calculated.
Object description
Index 60EB
h
Object name Additional Position Encoder Resolution - Motor Revolutions
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: tuning
Access read only
PDO mapping RX-PDO
Allowed values
Preset value
Firmware version FIR-v1738-B501312
Change history
Value description
Subindex 00
h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping RX-PDO
Allowed values
Preset value 03
h
Subindex 01
h
- 03
h
Name Additional Position Encoder Resolution - Motor Revolutions Feedback
Interface #1 - #3
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000001
h
Description
The subindices have the following function:
• 00
h
: Value="1" to "n", where "n" is the number of existing feedbacks.
• n
h
:
Version: 1.0.1 / FIR-v1748 280