AXIOMATIC DSP RESOLVER, Руководство пользователя

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DSP resolver user manual User Manual Version 1.15
index s
u
b type acce
ss variable notes
0x6000 0 U16 RW co_operating_parameters Bit 0 controls sensor positive rotation
direction
Bit 2 controls scaling and offset
features
0x6001 0 U32 RW co_units_per_revolution Number of sensor output steps per one
revolution
0x6003 0 U32 RW co_preset_value Variable, where operator may write
suggested output value.
0x6004 0 U32 RO co_position_value Sensor output
0x6501 0 U32 RO co_single_turn_resolution The current single turn resolution
which sw uses
0x6509 0 I32 RW co_offset_value Sensor offset value
Table 7.4: Object dictionary variables related to the sensor direction and offset configura­
tion
7.1.3 Procedure to configure resolution, positive rotation direction
and offset
The following order must be obeyed:
1. To avoid false position, speed and revolution values command the module to the
pre- operational state by sending a NMT command (instructions available in
network management chapter)
2. Configure the resolution (if non default value is used)
1. Allow scaling by setting co_operating_parameters ( 0x6000) bit 2 as logic 1.
2. Set the new resolution ( co_units_per_revolution , 0x6001)
3. Set the positive rotation direction as you want by toggling the bit 0 of the
co_operating_parameters ( 0x6000)
4. Set the offset by co_preset_value or co_offset_value objects
5. Test that the settings are OK.
6. Save setting to the nonvolatile memory by sending
save to device profile specific
objects command to the module. See instructions from chapter Saving the object
dictionary parameters .
Example:
If the direction of positive rotation is readjusted and nonzero offset is in use, offset has to be
set again.
7.1.4 Internal timing
co_CAN_period variable defines module's internal CAN loop period, which for instance
defines the minimum interval between PDO transmissions and affects to the speed
calculation.
The co_CAN_period variable is an unsigned 8 bit variable at it's located at 0x2106 in the
object dictionary. Allowed values are 2, 5 and 10.
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