AMT58x-PB Profibus®
29
Position and velocity values
when Class 2 (+VEL) is set (Encoder
Master)
Byte 1 … 4 5 … 8
Bit 31-24 … 7-0 31-24
… 7-0
Position
Velocity
Preset value
when any Class is set (Master
Slave)
Byte 1 2 3 4
Bit 31-24
23-16 15-8 7-0
Data 2
31
to 2
24
2
23
to 2
16
2
15
to 2
8
2
7
to 2
0
The Preset function is meant to assign a desired value to a physical
position of the encoder. The chosen physical position will get the
value set next to this item and all the previous and following positions
will get a value according to it. This function is useful, for example,
when the zero position of the encoder and the zero position of the
axis need to match. The preset value will be set for the position of the
encoder in the moment when the preset value is sent. The
Preset
value
value is sent by the Master to the Slave in
Data_Exchange
mode by setting bit 31 = “1” for 3 cycles.
The MSB of the preset value controls the preset function in the
following way:
Normal operating mode: MSB = 0 (bit 31): the encoder will make no
change in preset value.
Preset mode: MSB = 1 (bit 31): with the MSB = 1 the encoder
accepts the transferred value (bits 0 ... 30) as a preset value in binary
code.
- If
Scaling function control
= DISABLED, then
Preset value
must
be less than the
Total hardware resolution
.
- If
Scaling function control
= ENABLED, then
Preset value
must
be less than the
Total resolution
.
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