5 Setting parameters
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 119
Object 2024
h
: encoder_x2a_data_field
The record encoder_x2a_data_field summarises parameters that are necessary for operation of the
angle encoder at the plug [X2A].
Since the numerous angle encoder settings only become effective after a reset, selection and adjust
ment of the encoders should take place through the parametrisation software. Under CANopen, the
following settings can be read or changed:
The object encoder_x2a_resolution specifies how many increments are generated by the encoder per
revolution or unit of length. Since only resolvers that are always evaluated using 16 bit can be connec
ted at the input [X2A], 65536 is always returned here. With the object encoder_x2a_numerator and
encoder_x2a_divisor, a gear unit (also with prefix) if necessary between motor shaft and encoder can
be taken into account.
Index 2024
h
Name encoder_x2a_data_field
Object Code RECORD
No. of Elements 3
Sub-Index 01
h
Description encoder_x2a_resolution
Data Type UINT32
Access ro
PDO mapping no
Units Increments (4 * number of lines)
Value Range –
Default Value 65536
Sub-Index 02
h
Description encoder_x2a_numerator
Data Type INT16
Access rw
PDO mapping no
Units –
Value Range –32768 … 32767 (except 0)
Default Value 1
Sub-Index 03
h
Description encoder_x2a_divisor
Data Type INT16
Access rw
PDO mapping no
Units –
Value Range 1 … 32767
Default Value 1
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