Object 6040H: Acceleration Value; Object 6200H: Cyclic Timer - Pepperl+Fuchs Absolute Rotary Encoder Manual

Absolute Rotary Encoder
Programmable Parameters
1. Enable the TPDO2 by setting the transmission type (1801Sub2) to FE: 601 8 22 01 18 02 FE
00 00 00
2. Change the Event Timer from 0x00 to the desired value (e.g.: 100 ms -> 0x64) 601 8 22 01
18 05 64 00 00 00
3. Disable the TPDO mapping parameter 0 (1A01) by setting the number of entries
(1A01Sub0) to 0: 601 8 22 01 1A 00 00 00 00 00
4. Then write the disabled TPDO mapping parameter 0 subindex 1, namely mappedObj1. The
speed value is object 6030Sub1 and the data length is 16Bit -> 10: 601 8 22 01 1A 01 10 01
30 60
5. Enable the TPDO mapping parameter 0 (1A01) by setting the Number of entries
(1A01Sub0) to 1, again: 601 8 22 01 1A 00 01 00 00 00
6. Finally enable the speed setting "Enable Speed" (3010Sub1): 601 8 22 10 30 01 01 00 00
00
7. To save this configuration write 73 61 76 65 to 1010: 601 8 22 10 10 01 73 61 76 65
8. Send the NMT-message, to get into "Operational Mode": 00 2 01 00
Summarization
601 8 22 01 18 02 FE 00 00 00
601 8 22 01 18 05 64 00 00 00
601 8 22 01 1A 00 00 00 00 00
601 8 22 01 1A 01 10 01 30 60
601 8 22 01 1A 00 01 00 00 00
601 8 22 10 30 01 01 00 00 00
601 8 22 10 10 01 73 61 76 65
00 2 01 00
9.5.58

Object 6040h: Acceleration Value

This object contains the acceleration value of the encoder.
Subindex
0h
1h
Table 9.73
9.5.59

Object 6200h: Cyclic Timer

This object contains the value of the event timer of the corresponding TPDOs. The value can
be changed between 1-65538 ms.
The object 6200h is hardwired to the objects 1800h subindex 5h and 2200h and provide the
cycle time for the cyclic mode. (See chapter Cycle Time and Event Timer)
Subindex
0h
Table 9.74
Description Data Type
Number of subindices Unsigned 8
Acceleration value Integer 16
channel 1
Description Data Type
Cyclic Timer Unsigned 16
Default Value Access
1h ro
romap
Default Value Access
64h rw
Restore after
Boot up
yes
Restore after
Boot up
yes
59