9 Details on Servo Parameters
9 - 104
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
9-13 Encoder-related Objects
These objects are used for the encoder setting.
• Selects the operating method for the absolute encoder.
Description of Set Values
Index
(hex)
Sub-
index
(hex)
Object name
Setting
range
Unit
Default
setting
Data
attri-
bute
Size
Access
PDO
map
Complete
access
Modes of
opera-
tion
4510
---
Encoder
---
---
---
---
---
---
---
Possible
---
00
Number of
entries
---
---
FF hex
---
1 byte
(U8)
RO
---
---
---
01
Operation Selec-
tion when Using
Absolute
Encoder
0 to 2
---
2
R
4 bytes
(INT32)
RW
---
---
---
02
Absolute
Encoder Counter
Overflow Warn-
ing Level
0 to 32,767
rotation
32,000
A
4 bytes
(INT32)
RW
---
---
---
81
Serial Number
---
---
---
---
16 bytes
(VS)
RO
---
---
---
82
Resolution per
Rotation
---
---
---
---
4 bytes
(INT32)
RO
---
---
---
84
One-rotation
Data
---
Encoder
unit
---
---
4 bytes
(U32)
RO
---
---
---
85
Multi-rotation
Data
---
rotation
---
---
4 bytes
(INT32)
RO
---
---
---
86
Encoder Com-
munications
Error Count
---
---
---
---
4 bytes
(INT32)
RO
---
---
---
87
Electric Angle
---
°
---
---
4 bytes
(INT32)
RO
---
---
---
88
Mechanical
Angle
---
°
---
---
4 bytes
(U32)
RO
---
---
---
89
Encoder Tem-
perature
---
°C
---
---
4 bytes
(INT32)
RO
---
---
---
F1
Absolute
Encoder Setup
00000000
to
FFFFFFFF
hex
---
0
A
4 bytes
(U32)
W
---
---
---
F2
Encoder Com-
munications
Error Count
Clear
00000000
to
FFFFFFFF
hex
---
0
A
4 bytes
(U32)
W
---
---
---
FF
Clear Status
---
---
---
---
4 bytes
(U32)
RO
---
---
---
Subindex 01 hex: Operation Selection when Using Absolute
Encoder
Set value
Description
0
Use as the absolute encoder
1
Use as the incremental encoder
2
Used as the absolute encoder and ignore the absolute encoder counter overflow.
Summary of Contents for R88D-1SN ECT Series
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