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CANopen encoder
Format of the singleturn scaling parameters
Byte
Bit
Data
Format of the multiturn scaling parameters
Byte
Bit
Data
6.5.2
Scaling formulas
The scaling function used in the CANopen encoder is limited to a singleturn
resolution within a step� After the download of new scaling parameters the preset
function should be used to set the start point of the encoder�
Only change the scaling function parameters if the shaft is stationary�
In the following formula a 25-bit multiturn encoder with a singleturn resolution of 13
bits is used as an example�
Formula for the multiturn scaling function:
A = (singleturn_position x steps_per_revolution) / 8192
output_position = (revolution_number x steps_per_revolution) + A
Where:
singleturn_position = absolute singleturn position value
revolution_number = absolute multiturn number
6.6
Preset value
6.6.1
Overview
The preset function (object 0x6003h) supports the adaptation of the encoder to the
mechanical zero point or to a preset value� The preset function is used after the
scaling function� The preset value is then provided as a measured value�
A preset value is determined by the encoder as follows:
16
3
31 - 24
2
- 2
31
24
object 6001h - steps per revolution
3
31 - 24
2
- 2
31
24
object 6002h - total measuring range in steps
2
23 - 16
15 - 8
2
- 2
2
23
16
2
23 - 16
15 - 8
2
- 2
2
23
16
1
7 - 0
- 2
2
15
8
7
1
7 - 0
- 2
2
15
8
7
0
- 2
0
0
- 2
0
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