SHS EtherCAT HT7, User Manual

Page: 36 / 125

9.2.22 Encoder Configuration Object 0x2032
The object configures the encoder mode and the resolution (counts per revolution).
The encoder modalities are explained on Table 9-47 Encoder modes.
Attribute Value
Name Encoder Configuration
Index 0x2032
Subindex 0x00
Type RECORD
Access RW
Default Value 0x02
Table 9-45 Encoder Configuration
Attribute Value
Name Encoder Mode
Index 0x2032
Subindex 0x01
Type UNSIGNED16
Access RW
Default Value 0
Value range 0 2
Table 9-46 Encoder Mode Sub-Index
Value Description
0 Open loop, Encoder counts can be read
1 Positioning made with encoder feedback, no stop error generate
2 Encoder feedback used to check positioning error, stop error generate
Table 9-47 Encoder modes
Attribute Value
Name Encoder Resolution
Index 0x2032
Subindex 0x02
Type UNSIGNED16
Access RW
Default Value 1024
Value range 16 65535
Units CPR
Table 9-48 Encoder Resolution Sub-Index
9.2.23 Encoder Fault Steps Object 0x2034
The value establishes the difference between encoder position and theoretical position that rises a
positioning error. When the encoder mode is set to 2 and this difference is crossed, the drive
immediately stops the movement and rises a positioning error.
HT7 Ethercat User Guide 31