Commissioning
ATM60-Cxx 03/2007 53
13.2 Configure encoder
If any configuration of objects in the encoder is needed, it is recommended to carry out this configuration in
the “pre-operational” state. In this state, only the SDO connections are active, PDO connections become
active only in the “operational” state. This means that the bus activity of the encoder is low in the “pre-
operational” state.
13.2.1 Example of PDO mapping
The data which are transmitted in a PDO connection are determined by what is known as PDO mapping (see
object 1A00
hex
“Transmit PDO 1, mapping” and 1A02
hex
“Transmit PDO2, mapping”). Within one PDO, a
maximum of 8 bytes of data can be transmitted.
The position value is always contained in sub-index 1. Sub-index 1 cannot be altered. This means that, in
PDO 1 and PDO 2, the position value is always transmitted. This means that a maximum of 4 bytes of a PDO
can be filled up with objects which are permitted for PDO mapping.
In the following example, the position value (object 6003
hex
) and the status register of the cams (object
6300
hex
) are transmitted in the Transmit PDO 1. For this purpose, the following entries in the following
sequence have to be made in the mapping of the Transmit PDO 1:
· 1. Set sub-index 0 to 0:
· 2. Enter 63000108
hex
under sub-index 2
· 3. Set sub-index 0 to 2. This means that the sub-indices 1 and 2 will be taken into account in the
composition of the PDO mapping. In this case, a check on the PDO mapping over a total length of 8
bytes is made.
13.2.2 Example of changing the object “Measuring steps per revolution”
The measuring steps per revolution are to be changed to 4096 steps.
The master sends the following Initiate Download Request to the encoder.
SDO-ID Command Index Sub-
index
4-byte data
11 bit Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
COB-ID
for
SDO(rx)
22 hex
60 hex
01 hex
00 hex
00 hex
10 hex
00 hex
00 hex
In work
In Arbeit
To Next Page
Loading...
Need help?
General
