Lika AM58K 13/4096CB Series, Руководство пользователя, Страница: 43 / 56

AM58K CANopen®
Example
Multiturn encoder AM58K
13/4096
CB-6
Resolution is:
 Hardware counts per revolution:
6501-00 Hardware counts per
revolution
= 8192 (2 13 )
 Hardware number of turns: 6502-00 Hardware number of turns =
4096 (2 12 )
 Total hardware resolution: = 33554432 (2 25 )
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 values which are power of 2 (2 n : 2, 4, …, 2048, 4096, 8192) to be set
in the 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, then the
6003-00 Preset value
must be updated to the new
resolution. A new 6003-00 Preset value 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
.
MAN AM58K CB E 1.1.odt 43 6 - CANopen® interface