Command 0x8006 - EnDat read Pos2
The command 0x8006 "EnDat read Pos2",
calculate and write offset (only for incremental encoders with reference mark).
The command calculates the difference between Position1 and Position2.
- A prerequisite is that the RM bit (Reference Mark) (0xA0p8:04) is set.
- 1. Enter the command 0x8006 via the FB EnDat Command object, index 0xB0p8:01 "Request". (dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
- Please observe the note on Command Entry via the System Manager.
The offset is then automatically written to 0x80p8:12 “Offset value”. The “Position raw value” (0xA0p8:43) is then absolute.
CoE Entry / Example for command 0x8006
