Technical Manual PD4-E-M (EtherCAT)
10 Description of the object dictionary
Name
Encoder Home Raw Value
Data type
INTEGER32
Access
read / write
PDO mapping
no
Allowed values
Preset value
00000000
h
Description
The subindices have the following function:
•
01
h
(Configuration): Not currently used.
•
02
h
(Baud Rate): Baud rate of the SSI interface of the encoder.
•
03
h
(Single Turn Resolution): Resolution of the encoder within one revolution in bits.
•
04
h
(Multi Turn Resolution): The resolution is 18 bit, which corresponds to a number of revolutions:
+/-2
17
. Der Encoder kann Positionen
•
05
h
(Alignment): This value specifies the offset between the zero position 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.
•
06
h
(Encoder Home Raw Value): The absolute encoder position is recorded in this subindex after a
homing operation has been concluded. The object is savable ( Tuning category).
3700h Deviation Error Option Code
Function
The object contains the action that is to be executed if a following or slippage error is triggered.
Object description
Index
3700
h
Object name
Deviation Error Option Code
Object Code
VARIABLE
Data type
INTEGER16
Savable
yes, category: application
Access
read / write
PDO mapping
no
Allowed values
Preset value
FFFF
h
Firmware version
FIR-v1426
Change history
Firmware version FIR-v1738-B501312: "Object Name" entry changed
from "Following Error Option Code" to "Deviation Error Option Code".
Description
Value
Description
-32768 … -2
Reserved
-1
No reaction
Version: 1.0.1 / FIR-v1748
216
