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SFA-5000 • SFA-10000 EtherCAT
Set the Preset value 6003-00 Preset value
(preset = 1000 = 03E8h)
Master  Encoder
Cmd specific data
Cmd Index Sub Data
23 03 60 00 E8 03 00 00
Encoder  Master (Set confirmation)
Cmd specific data
Cmd Index Sub Data
60 03 60 00 00 00 00 00
NOTE

If the scaling function is disabled (see the bit 2 Scaling function in the
6000-00 Operating parameters
object), the
6003-00 Preset value
must
be less than or equal to the “
Total hardware resolution
” - 1 (
6501-00
Hardware counts per revolution  6502-00 Hardware number of turns
- 1).

If the scaling function is enabled (see bit 2
Scaling function
in the
6000-
00 Operating parameters
object), the
6003-00 Preset value
must be less
than or equal to the
6002-00 Total Measuring Range
- 1.
WARNING
Check the value in the
6003-00 Preset value
object and perform the preset
operation every time you change the
Code sequence
or the scaled values
(
6001-00 Units per revolution
and/or
6002-00 Total Measuring Range
objects).
6004-00 Position value
[Unsigned32, ro]
This object contains the current position value of the encoder.
If the scaling function is enabled (see the bit 2
Scaling function
in the
6000-
00 Operating parameters
object), the output value is scaled according to the
scaling parameters. The
6004-00 Position value
object is mapped in the
1A00-01 TxPDO mapping object, see on page 65.
WARNING
Please note that the position value issued by the encoder is expressed in pulses;
thus you have then to convert the number of pulses into a linear measuring
unit.
To convert the position value into millimetres (mm) or micrometres (µm) you
have to multiply the number of information by the linear resolution of the
encoder expressed in millimetres or micrometres.
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