Object 6008H: High Resolution Position Value; Object 6030H: Speed Value - Pepperl+Fuchs Absolute Rotary Encoder Manual

Absolute Rotary Encoder
Programmable Parameters
Subindex
0h
Table 9.70
9.5.56

Object 6008h: High Resolution Position Value

This object contains a high-resolution position value up to 16 bit for single-turn and 31 bit for
multi-turn measurement. See nameplate to get the information about the maximum resolution
of your device.
Mutliturn encoder with resolution 32 bits is available upon request at Pepperl+Fuchs GmbH but
there are the following functional restrictions: Preset function and scaling function are not
possible.
Note!
The object 6008h is not influenced by the object 2102h total resolution or object 6002h Total
measuring range, because of their limited data type of unsigned 32 bit.
But object 2101h resolution per revolution and object 6001h measuring units per revolution will
affect the high-resolution position value. With object 2103h / 6003h Preset value a desired
position can be also set for the high-resolution position value, but only within the value range of
unsigned 32 bit. With this method the user has a downward compatible device, but also in
parallel a device with higher capability of resolution and the existing software in the PLC can be
kept.
Subindex
0h
Table 9.71
9.5.57

Object 6030h: Speed Value

This object contains the speed value of the encoder.
Subindex
0h
1h
Table 9.72
If the velocity exceeds the data type, the speed value is frozen to the maximal possible value.
The customer can use the 3010h (32 bit) object.
How to map speed into TPDO2
Tip
SDO: 0x600 + node number. The following values are all in hex and the node number is "1"
DLC (Data length) = 8, 22 means "write", This example is written in intel-format (LSB ... MSB).
Depending on your tool, it could be, that the Motorola-format (MSB ... LSB) is used and the
direction of the bytes has to be changed.
58
Description Data Type
Process Value Unsigned 32
Description Data Type
High Resolution Unsigned 64
Position Value
Description Data Type
Number of subindices Unsigned 8
Speed value channel Integer 16
1
Default Value Access
romap
Default Value Access
romap
Default Value Access
1h ro
romap
Restore after
Boot up
yes
Restore after
Boot up
Restore after
Boot up
yes