Balluff BDG F-NH Series, Руководство по настройке

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The singleturn resolution is editable in object 6001h:
600h+ID 8 23h 01h 60h 00h 00h 10h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.63: Change of singleturn-resolution by SDO
00 00 10 00h represent the designated singleturn resolution. The encoder responds with a SDO acknowledge.
The total measuring range can be changed similarly by object 6002h. In the example a 29 bit total measuring
range is selected. With a 12 bit singleturn resolution 17 bit rotations are counted before returning to zero:
600h+ID 8 23h 02h 60h 00h 00h 00h 00h 20h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.64: Change of total measuring range by SDO
20 00 00 00h is the designated total measuring range.
Singleturn resolution and total measuring range do not have to match the bit grid. Every value between 1 and the
maximum is valid. The total measuring range cannot be less than the singleturn resolution. The result of an invalid
setting will be an abort code.
•
From revision number (software version) 1.12, it is no longer possible to scale
object 6004 to 32 bits. Only devices, ordered as a 32-bit device (default resolution
= 32-bit) provide full 32-bit resolution. Object 6002 has a "0". For all other variants,
only a scaling to 2
32 -1
is possible.
8.7 Position prese t
With object 6003h the encoder position can be shifted to a preset value. E.g. you can set the zero position of your
application without time-consuming mechanical alignment. Just mount the encoder and set the preset object
6003h to the designated position value (p1-p4):
600h+ID 8 23h 03h 60h 00h p1 p2 p3 p4
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.65: Set position preset
•
To set the zero position: p1, p2, p3, p4 = 00h, 00h, 00h, 00h
You don’t have to use PDOs to check the current position value. You can also perform a SDO read access on the
position value object 6004h:
600h+ID 8 40h 04h 60h 00h 00h 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.66: Check current position
The encoder will respond with the current position value.