Datalogic AMT58 Series, Руководство пользователя

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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 .