DSP resolver user manual
User Manual
Version 1.15
7.
PROFILE AND MANUFACTURER SPECIFIC FEATURES
This chapter describes the device profile and manufacturer specific features of the AXRES
module. DS301 specific objects and features are described mainly in CAN open chapter.
AXRES-CO-V2 is a Class 1 CANopen encoder (CiA DS406 ver 3.1) device supporting all
mandatory and some optional objects that the profile specifies.
Index
Type
Object name
Class 1
Support note
0x6000
VAR
Operating parameters
M
0x6001
VAR
Measuring units per revolution
O
0x6003
VAR
Preset value
O
0x6004
VAR
Position value
M
0x6030
ARRAY
Speed value
O
0x6500
VAR
Operating status
M
0x6501
VAR
Single turn resolution
M
0x6502
VAR
Number of distinguishable
revolutions
M
0x6507
VAR
Profile and software version
O
Not supported
0x6509
VAR
Offset value
O
In addition to the device profile the
offset can be cleared by writing 0 to
this object.
Table 7.1: Supported objects defined in the encoder profile DS406
7.1
Encoder related functions and configurations
7.1.1
Angle / position resolution
Module can be configured so that one electrical revolution corresponds something else than
360 degrees in the sensor's output (
co_position_value
object). This feature is common with
the encoders and the reason why this document uses position instead of angle as the name of
the primary output quantity of the module.
The single turn resolution is configured with the
co_units_per_revolution
object (0x6001).
The default value for the object is 36000, which means that if the mechanical rotation angle
happens to be 123,55 degrees, the value of the
co_position_value
object is 12355. In other
words the resolution is 0.01 degrees. The acceptable value range for the
co_units_per_revolution
object is 1.... (2^22) (1...4194304 or 0x1.... 0x400000).
The
co_units_per_revolution
object is ignored unless the scaling feature is enabled. The
feature is controlled by the second bit of the
co_operating_parameters
object. Setting the
bit as 1 enables the feature and 0 disables it. Note that the very same control bit enables and
disables also the output offset feature, so be careful while configuring the sensor.
The resolution concept is a bit more complicated if a 3x sensor element is used. With the 3x
element one 360 degrees mechanical revolution creates actually 3 uniform electrical
revolutions which cannot be distinguished each other. If the default resolution of 36000 is
used 119,99 degrees mechanical rotation corresponds to 35999 in the module's output object
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Axiomatic Technologies Oy
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