6�7 Zero Setting; 6�8 Speed And Acceleration; 6�9 Pdo Mapping - IFM Efector 400 RM7 Series Device Manual

CANopen encoder
6.7 Zero setting
Two methods can be used for zero setting�
Setting via software
If the preset object is used and the preset value is set to zero (00 00 00 00h), the
encoder is set to zero�
Setting via pushbutton
If the zero set button is pressed for at least 1 second, the position of the encoder is
set to zero (00 00 00 00h)�
Display module LED
Green, out, green, out, green, out to confirm that the position value is set to zero�
6.8 Speed and acceleration
The encoder supports the output of the speed object (0x6030) and of the
acceleration object (0x6040)� In order to maintain the accuracy irrespective of the
rotational speed of the encoder different steps can be set� The speed object is
limited to a signed 16-bit value� It is necessary to optimise the assumed rotational
speed of the shaft with regard to the selected resolution to avoid an overflow of
data�
The object 0x5003 (speed type) is a manufacturer-specific object which sets the
update time and resolution (steps / second or rpm) of the speed object (0x6030)
and the acceleration object (0x6040)� The speed type object is described in
chapter 7�1�
6.9 PDO mapping
Dynamic PDO mapping enables changes of the objects transmitted in a PDO� The
RM and RN type encoders can map three different objects in the PDOs�
Name
Position
Speed
Acceleration
The encoder has two transmit PDOs� PDO1 (cyclically transmitted by the cyclic
timer) and PDO2 (transmitted on receipt of a SYNC message)� As default both
PDOs are mapped to transmit only position data� Both PDOs can be changed
separately to transmit a combination and sequence of the object above�
18
Object
0x6004
0x6030
0x6040
Subindex
1
1
Length
4 bytes
2 bytes
2 bytes