Absolute Rotary Encoder
Programmable Parameters
2017-04
39
9.5 Object Descriptions
In the following chapter you will find detailed information of the object dictionary related to the
encoder device.
To provide a brief and clear presentation the objects are discribed in object tables containing
the following abbreviations:
9.5.1 Object 1000h: Device Type
The object at index 1000h describes the type of device and its functionality. It is composed of a
16-bit field which describes the device profile that is used and a second 16-bit field which gives
additional information about optional functionality of the device. The additional information
parameter is device profile specific.
Absolute rotary encoder single turn: 10196h
Absolute rotary encoder multi turn: 20196h
9.5.2 Object 1001h: Error Register
This object is used by the device to display internal faults. When a fault is detected, the
corresponding bit is therefore activated.
9.5.3 Object 1003h: Pre-Defined Error Field
The object holds the errors that have occurred on the device and have been signaled via the
Emergency Object.
■
The error code is located in the least significant word.
■
Additional information is located in the most significant word.
■
Subindex 0 contains the number of recorded errors.
Abbreviation Description
ro read only: Parameter that is only accessible in read mode.
romap read only mapable: Parameter that can be polled by the PDO.
rw read/write: Parameter that can be accessed in read or write mode.
wo write only: Parameter that is only accessible in write mode.
Subindex Description Data Type Default Value Access
Restore after
Boot up
0h - Unsigned 32 N/A ro no
Ta b l e 9 . 1 2
Bit Description Comments
0 Ge n e r i c E r r o r The generic error is signaled at any error situation.
Ta b l e 9 . 1 3
Subindex Description Data Type Default Value Access
Restore after
Boot up
0h - Unsigned 8 N/A ro no
Ta b l e 9 . 1 4
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