Festo CMMT-ST-SW, Оригинальное руководство пользователя

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3.3.3.3 CiA 402
Objects for encoder channels 1/2
Parameters Index.Subindex Name Data type
Px. Manufacturer-specific objects: saved basic unit for the object is effective.
3219 0x2130.1F Commutation angle from user configuration SINT64
3220 0x2130.21 Current commutation angle SINT64
3221 0x2130.23 Zero point offset from encoder memory SINT64
3223 0x2130.25 Zero point offset from user configuration SINT64
3224 0x2130.27 Current zero point offset SINT64
3225 0x2130.29 Encoder referencing is valid BOOL
3226 0x2130.2B Referencing in user configuration is valid BOOL
3227 0x2130.2D Current referencing is valid BOOL
3228 0x2130.2F Valid commutation angle from encoder
memory BOOL
3229 0x2130.31 Valid commutation angle from user configura-
tion BOOL
3230 0x2130.33 Current commutation angle valid BOOL
3234 0x2130.39 Electrical angular frequency filtered FLOAT32
3236 0x2130.3D Deactivation motor change check BOOL
3237 0x2130.3F Encoder permanently homed BOOL
3250 0x2130.59 Activation automatic encoder detection BOOL
3251 0x2130.5B Selection gear ratio group UINT8
11600 0x2130.5D Standardised encoder position SINT64
11601 0x2130.5F Absolute position in user units SINT64
11602 0x2130.61 Velocity in user units FLOAT32
11603 0x2130.63 Filtered velocity in user units FLOAT32
11604 0x2130.65 Electrical angle UINT32
11605 0x2130.67 Electrical angular frequency FLOAT32
11608 0x2130.6D Commutation angle from encoder memory SINT64
11615 0x2130.7B Current position SINT64
11616 0x2130.7D Encoder selection UINT32
11617 0x2130.7F Active encoder UINT32
11618 0x2130.81 Velocity filter filter time constant FLOAT32
Product configuration
161 Festo — CMMT-ST-SW — 2019-02