NANOTEC PD4-E, Technical Manual

Page: 42 / 295

Technical Manual PD4-E-M (EtherCAT)
5 General concepts
Name Unit symbol Value 6091
h
6092
h
Description
encoder
increment
B5
h
no no Encoder increments
step AC
h
no no Steps. With 2-phase stepper motors, the
number of pole pairs (2030
h
) multiplied by
4 is equivalent to one revolution. With 3-
phase BLDC motors, the number of pole
pairs (2030
h
) multiplied by 6 is equivalent
to one revolution.
electrical
pole
C0
h
no no Electric poles. With a stepper motor that
has, e.g., 50 pole pairs (2030
h
), the unit
corresponds to 1/50 of a revolution.
dimensionless 00
h
yes yes Dimensionless length unit
Listed in the following table are all supported units for the time and their values for 60A9
h
(Speed unit):
Name Unit symbol Value Description
second s 03
h
Second
minute min 47
h
Minute
hour h 48
h
Hour
day d 49
h
Day
year a 4A
h
Year (=365.25 days)
Listed in the following table are the possible exponents and their values for 60A8
h
(Position unit) and
60A9
h
(Speed unit):
Factor Exponent Value
10
6
6 06
h
10
5
5 05
h
... ... ...
10
1
1 01
h
10
0
0 00
h
10
-1
-1 FF
h
... .. ...
10
-5
-5 FB
h
10
-6
-6 FA
h
5.3.2 Encoder resolution
The physical resolution of the used encoder/sensor is calculated from the encoder increments
(608F
h
:1
h
(Encoder Increments)) per motor revolutions (608F
h
:2
h
(Motor Revolutions)):
Position encoder resolution =
Encoder Increments
(608F
h
:01)
Motor Revolutions
(608F
h
:02)
Version: 1.0.1 / FIR-v1748 42