PD4-E-M EtherCAT Online Manual

33A0h Feedback Incremental A/B/I 1

Function

Contains configuration values for the first incremental encoder. The values are determined by the Auto setup.

Object description


Index 33A0h
Object name Feedback Incremental A/B/I 1
Object Code ARRAY
Data type UNSIGNED16
Savable yes, category: tuning
Access read only
PDO mapping RX-PDO
Allowed values  
Preset value  
Firmware version FIR-v1738-B501312
Change history  

Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping RX-PDO
Allowed values  
Preset value 02h


Subindex 01h
Name Configuration
Data type UNSIGNED16
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 0000h


Subindex 02h
Name Alignment
Data type UNSIGNED16
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 0000h

Description

The subindices have the following function:

  • 00h (Configuration): The following bits have a meaning:
    • Bit 0: Value = "0": The encoder does not have an index. Value = "1": Encoder index found and is to be used.
    • Bit 15: Value = "1": The encoder is a single-turn absolute encoder.
  • 01h (Alignment): This value specifies the offset between the index of the encoder and the electric field.

    The exact determination is only possible via auto setup. The presence of this value is necessary for closed loop mode with encoder.

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