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For positions, the scaling control includes a feed constant, a gear ratio and an encoder revolution.
These values are combined by the implementation into a simple scaling numerator and
denominator. It is possible to change these values non-cyclically (i.e. using SDOs), in which case
the scaling numerator and denominator and any position limit values are recalculated in the
background. It is not, however, possible to change these values cyclically (i.e. by mapping PDOs to
them).
For velocities, in addition to the position constants described above, these values are combined
into a simple numerator and denominator to scale velocities to internal velocity units. This scaling
also properly handles remainders (i.e. when used on a reference or feedback, accumulate the
remainder and add it to subsequent velocity values, and when used with a limit, round up or down).
It is possible to change these values non-cyclically (i.e. using SDOs), in which case the scaling
numerator and denominator is recalculated in the background. It is also necessary to re-scale
velocity limit values with the new factor. It is not possible to change these values cyclically (i.e. by
mapping PDOs to them).
7.3.11
0x608F Position_encoder_resolution
This read only object indicates the configured encoder increments per number of motor revolutions.
The information is read from the drive's encoder configuration.
Table 7-23 Position_encoder_resolution
0x608F
Position_encoder_resolution
Sub-index 0
Access: RO
Default:
2
Description:
Sub-index 1
Access: RO
Default:
1
Description:
Encoder increments
Sub-index 2
Access: RO
Default:
1
Description:
Motor revolutions
SI-EtherCAT User Guide
Issue Number: 2
Range: N/A
Range: 0 to 0xFFFFFFFF
Range: 0 to 0xFFFFFFFF
Size: Unsigned 8
Type: USINT
Size: Unsigned 32
Type: UDINT
Size: Unsigned 32
Type: UDINT
Unit: N/A
Unit: N/A
Unit: N/A
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