Infranor XtrapulsGem User Manual

94
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
3.2.2.7.2 - Encoder
Encoder support types:
- TTL Incremental Encoder
- TTL Incremental Encoder + Hall Effect Sensor
- Sin-Cos Incremental Encoder
- Sin-Cos Incremental Encoder + Hall Effect Sensor
- Hiperface® Encoder
Encoder Parameters
Index Sub Name Description Type Attribute
0x3120 Encoder1 Encoder 1
1 Enc1Sin Integer16 ro
2 Enc1Cos Integer16 ro
3 Enc1Amp2 Integer16 ro
4 Enc1Mod Encoder value for one motor revolution.
one revolution -> 16-bit
Unsigned16 ro
5 Enc1Amp Integer16 ro
0x3121 Enc1Setp Encoder 1 Setup
0x3122 Enc1Err Encoder 1 Error Control
1 Enc1Cnt Unsigned32 rw
2 Enc1Thrs Unsigned16 rw
3 Enc1Lim Unsigned16 rw
4 Enc1Zlim Unsigned16 rw
5 Enc1Clim Unsigned16 rw
6 Enc1Vlim Unsigned32 rw
0x3124 Enc1CalP Encoder 1 Calibration
0x3127 0 Enc1TopZ Encoder 1 Virtual Top Z Unsigned16 ro
0x3128 0 Enc1ofs Encoder 1 Offset (user position unit) Integer32 rw
0x3129 0 Enc1pos Encoder 1 Position (user position unit) Integer32 ro
0x312A 0 Enc1vel Encoder 1 Velocity (user velocity unit) Integer32 ro
0x312C 0 Enc1raw Encoder1 Raw Position Integer32 ro
Encoder Setup
Index 0x3121
Name Encoder Setup
Object Code RECORD
Number of Elements 6
Value Description
Sub Index 1
Description Encoder Type
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Default Value

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English