2
0
1
8
-0
6
16
Data Model for the Device Configuration
6.2
Communication objects according to device profile DS-406
With the protocol "CANOpen over EtherCAT (CoE)," EtherCAT enables the use of the entire
CANOpen profile family. CANOpen describes the properties of devices in the device profiles.
The supported parameters according to device profile DS 406 for rotary encoders are
described below.
6.2.1
Object 6000h: Operating parameters
This object shows the functions for the code sequence, the commissioning of the diagnostic
control, and the control panel for the scaling function.
Code sequence
The code sequence determines whether rising or falling position values are output when the
encoder shaft rotates clockwise or counterclockwise as viewed from the perspective of the
shaft.
Controlling the scaling function
The scaling function converts the encoder number value in software to change the physical
resolution of the encoder. The units per revolution (object 6001h) and the total measuring
range in units (object 6002h) are the scaling parameters. The bit of the scaling function is set in
the operating parameters. If the bit of the scaling function is set to zero, the scaling function is
deactivated.
Object
Description
Data type
Access
6000h
Operating parameters Unsigned 16
r/w
6001h
Measuring units per
revolution
Unsigned 32
r/w
6002h
Total measuring range
in measuring units
Unsigned 32
r/w
6003h
Preset value
Unsigned 32
r/w
6004h
Position value
Unsigned 32
r/w
6500h
Operating status
Unsigned 16
r
6501h
Singleturn resolution
Unsigned 32
r
6502h
Number of
distinguishable
revolutions
Unsigned 32
r
6507h
Profile and software
version
Unsigned 32
r
6509h
Offset value
Unsigned 32
r
Subindex
Description
Data type
Default
Access
0h
Operating
parameters
Unsigned 16
4h
r/w
Note!
To save all parameters in the non-volatile memory, you must transmit object 1010h to the
absolute rotary encoder. See Chapter "Communication objects according to communication
profile DS-301," object 1010h: store application parameters.
