60EBh Additional Position Encoder Resolution - Motor Revolutions Function With this object and with 60E6h, the resolution of each existing feedback is calculated. Object description Index 60EBh Object name Additional Position Encoder Resolution - Motor Revolutions Object Code ARRAY Data type UNSIGNED32 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1738-B501312 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 04h Subindex 01h - 04h Name Additional Position Encoder Resolution - Motor Revolutions Feedback Interface #1 - #4 Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains the number of motor revolutions of the corresponding feedback. Subindex 01h always corresponds to the first feedback Sensorless . The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors. The resolution of feedback "n" is calculated as follows: Position Encoder Resolution = Encoder Increments (60E6h:nh) / Motor Revolutions (60EBh:nh)
60EBh Additional Position Encoder Resolution - Motor Revolutions Function With this object and with 60E6h, the resolution of each existing feedback is calculated. Object description Index 60EBh Object name Additional Position Encoder Resolution - Motor Revolutions Object Code ARRAY Data type UNSIGNED32 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1738-B501312 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 04h Subindex 01h - 04h Name Additional Position Encoder Resolution - Motor Revolutions Feedback Interface #1 - #4 Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains the number of motor revolutions of the corresponding feedback. Subindex 01h always corresponds to the first feedback Sensorless . The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors. The resolution of feedback "n" is calculated as follows: Position Encoder Resolution = Encoder Increments (60E6h:nh) / Motor Revolutions (60EBh:nh)
Object description Index 60EBh Object name Additional Position Encoder Resolution - Motor Revolutions Object Code ARRAY Data type UNSIGNED32 Savable yes, category: sensors Access read only PDO mapping RX-PDO Allowed values Preset value Firmware version FIR-v1738-B501312 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping RX-PDO Allowed values Preset value 04h Subindex 01h - 04h Name Additional Position Encoder Resolution - Motor Revolutions Feedback Interface #1 - #4 Data type UNSIGNED32 Access read / write PDO mapping RX-PDO Allowed values Preset value 00000001h
Description The subindices have the following function: 00h: Value="1" to "n", where "n" is the number of existing feedbacks. nh: Subindex n contains the number of motor revolutions of the corresponding feedback. Subindex 01h always corresponds to the first feedback Sensorless . The order of the remaining feedbacks corresponds to the table in chapter Configuring the sensors. The resolution of feedback "n" is calculated as follows: Position Encoder Resolution = Encoder Increments (60E6h:nh) / Motor Revolutions (60EBh:nh)
