Lika CANopen SFA-10000-CB, Руководство пользователя

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SFA-5000 • SFA-10000 CANopen®
6003-00 Preset value
[Unsigned32, rw]
This object allows to set the encoder position to a Preset value. The Preset
function is meant to assign a desired value to a physical position of the encoder
shaft (i.e. to a position of the wire in the stroke). The chosen position will get the
value set next to this object and all the previous and the 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 (i.e. the position of the
wire) in the moment when the preset value is transmitted. We suggest setting
the preset value when the encoder is in stop.
Default = 0000 0000h
EXAMPLE
Let's take a look at the following example to better understand the preset
function and the meaning and use of the related objects:
6003-00 Preset
value
and
6509-00 Offset value
.
The encoder position which is transmitted results from the following
calculation:
Transmitted value
=
read position
(it does not matter whether the position is
physical or scaled) +
6003-00 Preset value
-
6509-00 Offset value
.
If you never set the
6003-00 Preset value
and you never performed the preset
setting, then the transmitted value and the read position are necessarily the
same as
6003-00 Preset value
= 0 and
6509-00 Offset value
= 0.
When you set the
6003-00 Preset value
and then execute the preset setting,
the system saves the current encoder position in the
6509-00 Offset value
object. It follows that the transmitted value and the
6003-00 Preset value
are
the same as
read position
-
6509-00 Offset value
= 0; in other words, the
value set next to the
6003-00 Preset value
object is paired with the current
position of the encoder as you wish.
For example, let's assume that the value “50” is set next to the
6003-00 Preset
value
object and you execute the preset setting when the encoder position is
“1000”. In other words, you want to receive the value “50” when the encoder
reaches the position “1000”.
We will obtain the following information sequence:
Transmitted value
=
read position
(=”1000”) +
6003-00 Preset value
(=”50”) -
6509-00 Offset value
(=”1000”) = 50.
The following transmitted value will be:
Transmitted value
=
read position
(=”1001”) +
6003-00 Preset value
(=”50”) -
6509-00 Offset value
(=”1000”) = 51.
And so on.
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 66 of 88