Absolute Rotary Encoder
Programmable Parameters
2017-04
59
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.
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 Description Data Type Default Value Access
Restore after
Boot up
0h Number of subindices Unsigned 8 1h ro
1h Acceleration value
channel 1
Integer 16 romap yes
Ta b l e 9 . 7 3
Subindex Description Data Type Default Value Access
Restore after
Boot up
0h Cyclic Timer Unsigned 16 64h rw yes
Ta b l e 9 . 7 4
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