Kollmorgen AKD

AKD CANopen | 7 CANopen Drive Profile
7.5.3 Objects for position calculation
7.5.3.1 Object 608Fh: Position encoder resolution (DS402)
The position encoder resolution defines the ratio of encoder increments per motor revolution on the CANopen
end. Encoder increments are set either directly by subindex 1 (only powers of 2 available) or implicit by writing to
the parameter FB1.PSCALE. It can be set independently afterwards.
Index 608Fh
Name Position encoder resolution
Object Code ARRAY
Data Type UNSIGNED 32
Category optional
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value Range 2
Default Value 2
Subindex 1
Name Encoder increments
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED 32
Default Value 2^20
Subindex 2
Name Motor revolutions
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED 32
Default Value 1
96 Kollmorgen™ | November 2012