Beckhoff EL72 1 Series Documentation page 160

EL72x1-0001 (DS402) - Object description and parameterization
Index 608F Position encoder resolution
Index (hex) Name
608F:0 Position encoder reso-
lution
608F:01 SubIndex 001
608F:02 SubIndex 002
Index 6090 Velocity Encoder Resolution
Index (hex) Name
6090:0 Velocity Encoder Res-
olution
Index 60C2 Interpolation time period
Index (hex) Name
60C2:0 Interpolation time pe-
riod
60C2:01 Interpolation time pe-
riod value
60C2:02 Interpolation time in-
dex
Index 60D9 Supported functions
Index (hex) Name
60D9:0 Supported functions
Index 60DA Function settings
Index (hex) Name
60DA:0 Function settings
Index 60EA Commutation angle
Index (hex) Name
60EA:0 Commutation angle
Index 60F4 Following error actual value
Index (hex) Name
60F4:0 Following error actual
value
160
Meaning
This object shall indicate the configured encoder incre-
ments and number of motor revolutions. The position
encoder resolution shall be calculated by the following
formula:
Encoder increments
Motor revolutions
Meaning
Display of configured encoder increments/s and motor
revolutions/s.
The velocity encoder resolution is calculated according
to the following formula:
Velocity Encoder Resolution = (encoder_increments /
s ) / (motor_revolutions / s)
Meaning
Maximum subindex
This object shall indicate the configured interpolation
cycle time. The interpolation time period (sub-index
0x01) value shall be given in 10
ond).
The interpolation time index (sub-index 0x02) shall be
dimensionless.
Meaning
This object shall provide information on the supported
functions in the device.
Meaning
This object shall enable/disable supported functions in
the device.
Bit 0: Enable TxPDOToggle-Bit in Statusword: Bit 10
Bit 1: Enable input cycle counter in Statusword: Bit 13
Bit 2-31: reserved
Meaning
Electrical commutation angle (for the CSTCA mode)
-3
Unit: 5.49 * 10 °
Meaning
Following error
Unit: the given value must be multiplied by the corre-
sponding scaling factor [} 110]
Version: 3.3
Data type
UINT8
UINT32
UINT32
Data type
UINT32
Data type
UINT8
UINT8
(interpolation time index)
(sec-
INT8
Data type
UINT32
Data type
UINT32
Data type
UINT16
Data type
INT32
Flags Default
RO 0x02 (2 )
dec
RO 0x00000000
(0 )
dec
RO 0x00000000
(0 )
dec
Flags Default
RO 0x00041893
(268435 )
dec
Flags Default
RO 0x02 (2 )
dec
RO 0x00 (0 )
dec
RO 0x00 (0 )
dec
Flags Default
RO 0x00000000
(0 )
dec
Flags Default
RW 0x00000000
(0 )
dec
Flags Default
RO 0x0000 (0 )
dec
Flags Default
RO 0x00000000
(0 )
dec
EL72x1