Tsino Dynatron EtherCAT CoolDrive RC Series, User Manual

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Encoder Parameters 6.4.3
0x2009 Encoder Type Set
Index 0x2009 Object type VAR Name Encoder Type Set
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO rw UINT32 - Encoder Type
Set the encoder type.
Byte0: Encoder type
0x00-Absolute encoder; 0x01-Incremental encoder.
Byte1: Absolute encoder model
0x00 - Hiperface;
0x01 - SSI;
0x02 - Nikon;
0x03 - Tamagawa;
0x04-Reserved;
0x05 - BISS C;
0x06 - EnDat 2.2;
0x07 - Panasonic;
0x08 - SANKYO;
0x09 - MotorPower.
Byte2: Encoder communication rate
0x00-2.5Mbps;
0x01 - 4.0Mbps
Byte3: Encoder battery voltage monitoring selection
0x00 - Disable the encoder battery low voltage detection;
0x01 - Detect the encoder battery low voltage as a warning;
0x02 - Detect the encoder battery low voltage as a fault
0x200A Supported Encoder Type
Index 0x200A Object type VAR Name Supported Encoder Type
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 TXPDO ro INT16 - Supported Encoder Types
Provides the supported encoder types by the drive.
0x200B Interface Encoder Single-Turn Resolution
Index 0x200B Object type VAR Name Interface Encoder Single-Turn Resolution
Sub-index PDO
mapping
Read and write
operations
Data type Unit Description
0x00 NO ro UINT16 Bit Interface Encoder Single-Turn Resolution
Provides the single-turn resolution of the drive and host computer interface encoder. This parameter is read-only and can
not be modified.
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