Hx58x EtherCAT®
Example
Multi turn encoder HM58
16/16384
EC-6.
Resolution is:
•
Hardware counts per revolution:
“obj_6501” = 65536 (2
16
)
•
Hardware number of turns:
“obj_6502” = 16384 giri (2
14
)
•
Total hardware resolution:
= 1073741824 (2
30
)
2048 counts/rev.
∗
1024 turns are required:
•
Enable scaling function:
“obj_6000”, bit 2 = “1”
•
Counts per revolution:
“obj_6001” = 2048 (0000 0800h)
•
Total resolution:
“obj_6002” = 2048
∗
1024 = 2097152 (0020 0000h)
NOTE
To avoid counting errors we recommend values which are power of 2 (2
n
: 2, 4,
…, 2048, 4096, 8192,…) to be set in objects 6001h and 6002h.
If “Counts per revolution” and/or “Total resolution” values change, the “Preset
value” should be adjusted to the new resolution. A new setting of the “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.
NOTE
•
If “Scaling function” is disabled (see obj_6000), “Preset value” must be lower
than “Total hardware resolution”.
•
If “Scaling function” is enabled (see obj_6000), “Preset value” must be lower
than “Total resolution” (object 6002).
6004-00 Position value
[Unsigned32, ro]
This object contains the position value (also considering the scaling function).
MAN HM58x EC I_E 1.2.odt
64
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Содержание H 58 Series
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