AMT58x-CB CANopen®
31
Example
Multiturn encoder HM5816/16384FB-6 with connection cap “BC-CB-
C”.
Resolution is:
Hardware counts per revolution:
6501-00 Hardware counts
per revolution
= 65536 (2
16
)
Hardware number of turns:
6502-00 Hardware number
of turns
= 16384 (2
14
)
Total hardware resolution:
= 1073741824 (2
30
)
2048 counts/rev.
1024 turns are required:
Enable scaling function:
6000-00 Operating parameters
, bit 2 = “1”
Counts per revolution:
6001-00 Counts per revolution
= 2048
(0000 0800h)
Total resolution:
6002-00 Total resolution
= 2048*1024 =
2097152 (0020 0000h)
NOTE
We suggest setting values which are power of 2 (2
n
: 2, 4, …, 2048,
4096, 8192,…) to be set in objects
6001-00 Counts per revolution
and
6002-00 Total resolution
to avoid counting errors.
If
6001-00 Counts per revolution
and/or
6002-00 Total resolution
values change, the
6003-00 Preset value
must be updated to the
new resolution. A new
6003-00 Preset value
is also required.
6003-00 Preset value
[Unsigned32, rw]
This object allows to set the encoder position to a Preset value.
Preset function is meant to assign a certain value to a desired
physical position of the encoder shaft.
Default = 0000 0000h
NOTE
If the scaling function is disabled (see bit 2
Scaling function
in the
object
6000-00 Operating parameters
),
6003-00 Preset value
must be lower than “Total hardware resolution” (
6501-00
Hardware counts per revolution
6502-00 Hardware number of
turns
).
If the scaling function is enabled (see bit 2
Scaling function
in the
object
6000-00 Operating parameters
),
6003-00 Preset value
must be lower than
6002-00 Total resolution
.
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