UK
CANopen encoder
27
Index S-Idx Name
Type,
access
default value
Description
6400
Area state
register
The object describes the area state
register�
In this object the status of the encoder
value is indicated in the area defined
before�
0h
Measuring
units per
revolution
u8, ro
1h
1h
Total
measuring
range in
measuring
units
u8, romap -
Bit structure
7
6
5
4
3
2
1
0
R
r
r
r
r
Range
underflow
Range
overflow
Out of
range
MSB
LSB
Signal
Value
Definition
Out of range
0
Position between low and high limit
1
Position out of range (refer to module
identification object, 650Ah) is reached
Range overflow
0
No range overflow
1
Position is lower than the position value set
in object 6402h "work area low limit“
Range underflow
0
No range underflow
1
Position is higher than the position value set
in object 6401h "work area high limit“
r
0
reserved
6401
Work area low
limit
-
The objects shows the lower value of the
work area� Bit 2 of the existing work area
status in object 6400h will change when
the work area is fallen below�
This object is directly linked with object
2104h (limit switch min�)�
0h
Number of sub
indices
integer
32, ro
1h
1h
Work area low
limit channel 1
integer
32, rw
0h
Содержание RM8004
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Страница 34: ...CANopen encoder 34...
Страница 35: ...UK CANopen encoder 35...
