Communication Objects According To Device Profile Ds-406; Object 6000H: Operating Parameters - Pepperl+Fuchs ES 58 EC Series Manual

Absolute Rotary Encoders
Data Model for the Device Configuration
6.2

Communication objects according to device profile DS-406

With the protocol "CANOpen over EtherCAT (CoE)," EtherCAT enables the use of the entire
CANOpen profile family. CANOpen describes the properties of devices in the device profiles.
The supported parameters according to device profile DS 406 for rotary encoders are
described below.
Object
6000h
6001h
6002h
6003h
6004h
6500h
6501h
6502h
6507h
6509h
6.2.1

Object 6000h: Operating parameters

This object shows the functions for the code sequence, the commissioning of the diagnostic
control, and the control panel for the scaling function.
Subindex
0h
Code sequence
The code sequence determines whether rising or falling position values are output when the
encoder shaft rotates clockwise or counterclockwise as viewed from the perspective of the
shaft.
Controlling the scaling function
The scaling function converts the encoder number value in software to change the physical
resolution of the encoder. The units per revolution (object 6001h) and the total measuring
range in units (object 6002h) are the scaling parameters. The bit of the scaling function is set in
the operating parameters. If the bit of the scaling function is set to zero, the scaling function is
deactivated.
Note!
To save all parameters in the non-volatile memory, you must transmit object 1010h to the
absolute rotary encoder. See Chapter "Communication objects according to communication
profile DS-301," object 1010h: store application parameters.
16
Description
Operating parameters Unsigned 16
Measuring units per
revolution
Total measuring range
in measuring units
Preset value
Position value
Operating status
Singleturn resolution
Number of
distinguishable
revolutions
Profile and software
version
Offset value
Description Data type
Operating Unsigned 16
parameters
Data type Access
r/w
Unsigned 32 r/w
Unsigned 32 r/w
Unsigned 32 r/w
Unsigned 32 r/w
Unsigned 16 r
Unsigned 32 r
Unsigned 32 r
Unsigned 32 r
Unsigned 32 r
Default
4h
Access
r/w