NANOTEC PD4-C - 2056 H Limit Switch Tolerance Band

9 Description of the object dictionary
Object description
Index 2052
h
Object name Encoder Resolution
Object Code VARIABLE
Data type INTEGER32
Savable yes, category: tuning
Access read / write
PDO mapping no
Allowed values
Preset value 00000000
h
Firmware version FIR-v1426
Change history
Firmware version FIR-v1540: "Savable" entry changed from "no" to
"yes, category: tuning".
Description
A negative value means that the encoder is driven in the opposite direction of the motor. This can be
corrected by reversing the polarity of a motor winding.
Tip
The unit is "pulses per revolution" (ppr), which corresponds to four times the resolution in "counts
per revolution" (cpr) (quadrature). This means that for an encoder with a resolution of, e.g., 1000
increments per revolution, the value in 2052
h
is 4000.
2056h Limit Switch Tolerance Band
Function
Specifies how far a limit switch may be passed over in the positive or negative direction before the controller
triggers an error.
This tolerance band is necessary, for example, to complete homing operations – in which limit switches can
be actuated – error free.
Object description
Index 2056
h
Object name Limit Switch Tolerance Band
Object Code VARIABLE
Data type UNSIGNED32
Savable yes, category: application
Access read / write
PDO mapping TX-PDO
Allowed values
Preset value 000001F4
h
Firmware version FIR-v1426
Change history
Version: 2.0.1 / FIR-v1650 139