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POSI+ CANOPEN USER MANUAL

Page 22 Version 1.02

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6. Encoder-specific objects 6000h to 9FFFh (DS 406)

Introduction This section lists the encoder-specific objects. Each object, with all its technical

characteristics, is described according to the CANopen standard.

Object

SubIndex

Name Format Access Default Save Description

6000

Operating Parameters U16 RW 0004h Yes

Bit0 = Position increasing

0 CW

1 CCW

Bit2 = 0 Scaling function

disabled 1 Scaling

function enabled

6001

Measuring Units per Revolution U32 RW 00002000h Yes

Resolution in steps /

revolution: 13 bits

6002

Total Measuring Range U32 RW

Multi:

20000000h

Mono:

00002000h

Yes

Overall measuring

range in increments

29Bit = multiturn

13Bit = singleturn

6003

Preset Value U32 RW 00000000h Yes Preset in increments

6004

Position Value U32 RO 00000ECBh Position value

6200

Cyclic timer U16 RW 0000h Yes

In ms, identical object

1800h, subindex 5

6300 Cam state register

6300

NrOfAvailableChannel U8 RO 01h only CAM1

6300

Cam state channe l 1 U8 RO 00h

status bit of the cam in

a cam channel

Bit0 = CAM1

0 = CAM Inactive

1 = CAM active

6301 Cam enable

6301

NrOfAvailableChannel U8 RO 01h only CAM1

6301

Cam enable channel 1 U8 RW 00h Yes

Bit0 = CAM1

0 = cam disable

1 = cam state

calculated by the

device

6302 Cam polarity

6302

NrOfAvailableChannel U8 RO 01h

6302

Cam polarity channel 1 U8 RW 00h Yes

Bit0 = CAM1

0 = cam state not

inverted

1 = cam state not

inverted

6310 Cam1 low limit

1 2 ... 17 18 19 20 21 22 23 24 25 26 27 ... 33 34

POSI+ CANOPEN USER MANUAL 1

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