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8.16
[Load-side encoder information 1 Z-phase counter
(Obj. 2B12h)]
[Load-side encoder information 1 Z-phase counter (Obj. 2B12h:
00h)]
Data Type
Access
I32
RO
Supported firmware version
ECT
A5
Description
The load-side encoder information 1 is returned.
The information to be returned varies as follows in accordance with the encoder being connected on the load side.
For a rotary servo motor, the position within one-revolution is returned.
For an absolute position linear encoder, the absolute position data is returned.
For an incremental linear encoder, the Z-phase counter (the distance from the linear encoder home position (reference mark))
is returned in 32-bit data after the Z-phase is passed. The value before the Z-phase is passed is undefined.
For an A/B/Z-phase differential output linear encoder, the Z-phase counter (the distance from the linear encoder home
position (Z-phase)) is returned in 16-bit data (FFFF8000h (-32768) to 00007FFFh (32767)) after the Z-phase is passed.
Before the Z-phase is passed, this object returns the value of the free-run counter, which changes to "00000000h" when the
power is cycled.
For an A/B/Z-phase differential output rotary encoder, the position within one-revolution is returned.
8.17
[Load-side encoder information 2 (Obj. 2B13h)]
[Load-side encoder information 2 (Obj. 2B13h: 00h)]
Data Type
Access
I32
RO
Supported firmware version
ECT
A5
Description
The load-side encoder information 2 is returned.
The information to be returned varies as follows in accordance with the encoder being connected on the load side.
For a rotary servo motor, this object returns the value of the multi-revolution ABS counter, which maintains the counter value
even when the power is cycled. Note that, when using an HK-MT_VW, this object returns the value of the multi-revolution
counter, which changes to "00000000h" when the power is cycled.
For an absolute position linear encoder, "00000000h" is returned.
For an incremental linear encoder, "00000000h" is returned.
For an A/B/Z-phase differential output linear encoder, "00000000h" is returned.
For an A/B/Z-phase differential output rotary encoder, "00000000h" is returned.
Mapping
Default
TxPDO
Mapping
Default
TxPDO
8.16 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)]
Range
Units
80000000h to
pulse
7FFFFFFFh
Range
Units
80000000h to
rev
7FFFFFFFh
Save
Parameter
Impossible
Save
Parameter
Impossible
8 Monitor Objects
8
89
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