Projecting with TwinCAT System Manager V2.10
TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany
Page 130 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
Example 2:
360 position units per revolution, measuring range = 4096 revolutions
Resolution and measuring range of the drive encoder (read-only):
"Position Increments per Motor Revolution" 0x608F:1/0x608F:2
.. = 4096/1 = 2^12
"Measuring range in revolutions" 0x6510
.. = 65536 = 2^16
Required resolution 360 "Position Units/Revolution"
->
"Position Increments per Position Units" 0x6093:1/0x6093:2
.. = [0x608F:1]/360
.. = 4096/360
->
Maximum position measuring range / "Position Units" =
.. = [0x6510] * ([0x608F:1]/[0x608F:2]) / ([0x6093:1]/[0x6093:2])
.. = 360*2^12 = 1474560
.. = 0x168000
Required position measuring range 2^(12+16) "Position Units " with a symmetrical
zero
->
"Min. Position Range Limit" 0x607B:1 = -360*2^12/2 = -737280
.. = 0xFFF4C000
"Max. Position Range Limit" 0x607B:2 = +360*2^12/2-1 = +737279
.. = 0x000B3FFF
Linear moving range at most 50% of the negative and positive measuring range:
->
"Min. Software Position Limit" 0x607D:1 >= -360*2^12/4 = -368640
.. = 0xFFFA6000
"Max. Software Position Limit" 0x607D:2 <= +360*2^12/4-1 = +368639
.. = 0x00059FFF
-"Max. Software Position Limit" <= "Home Offset" <= -"Min. Software Position Limit"
->
"Home Offset" 0x607C >= -[0x607D:1] = -360*2^12/4 = -368640
and
"Home Offset" 0x607C <= -[0x607D:2] = +360*2^12/4-1 = +368639
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