7�4 Manufacturer-Specific Objects From 2000H To 5Fffh - IFM RM8004 Device Manual

7.4 Manufacturer-specific objects from 2000h to 5FFFh
Index S-Idx Name
2000 0 Position value
2100 0 Operating
parameters
2101 0 Resolution per
revolution
0 Resolution per
revolution
Type, default value Description
access
u32, ro
u16, rw 0h
u16, rw
u32, rw
The counting direction of the encoder as
an operating parameter can be changed
and the two limit switches can be switched
on or off�
The parameter counting direction
(complement) determines the counting
direction of the encoder� With the same
direction of rotation the value can be
indicated either adding or substracting�
The counting direction is set by bit 0 of the
object to 2100h� In addition the two limit
switches can be switched on or off� Bit 1
and bit 2 are used for this purpose�
Note: The counting direction is always
seen looking at the shaft� With clockwise
direction of the shaft (CW) the counting
direction is increasing�
Calculation example:
Goal: encoder with counting direction
decreasing (CCW) and both limit switches
off
Bit matrix:
bit 0 = 1 direction decreasing (CCW)
bit 1 = 0 limit switch min� disabled
bit 2 = 0 limit switch max�disabled
result = 01h
Requested steps per revolution
(single turn resolution up to 12 bits)
Requested steps per revolution
(single turn resolution > 12 bits)
If the requested resolution per revolution
exceeds the physical resolution, the set
value is not transmitted�
► Set correct resolution�
CANopen encoder
UK
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