Command 0x8008 - Suppress TxPDO State (EL5032)

The command 0x8008 "Suppress TxPDO State" suppresses the "TxPDOState" (only EL5032 from FW 17).

This command suppresses the "TxPDO State" until the reference marks have been reached, e.g. for encoders with distance-coded reference marks, and the bit in 0xA0p8:04 "Reference Mark" = TRUE.
The output position is then absolute.

1. Enter the command 0x8008 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.

CoE Entry / Example for command 0x8008

Example of commissioning encoders with distance-coded reference marks

E.g. HEIDENHAIN encoders from the EIB 1500 series External interface box, signal converter for high-accuracy angular measurement do not initially provide an absolute position value after switch-on. An absolute position value is only available after passing the distance-coded reference marks.

1. Initial state:
No absolute position value is available.
The following is therefore reported back via the process data:
0x60p0:01 "Warning" = TRUE and
0x60p0:0E "TxPDO State" = TRUE
The axis cannot be moved via the NC as the position data is invalid.
2. Set command 0x8008 "Suppress TxPDO State".
The TxPDO State is suppressed until the distance-coded reference marks have been passed. If the axis is released, it can now be moved with the NC.
If "Reference mark" = TRUE is reported in the "FB EnDat Diag data Ch. p" object index 0xA0p8:04, homing is complete.
3. Command 0x8001 "Encoder reset" is used to reset the encoder. The "Warning flag" in the process data 0x60xp0:01 "Warning" is also reset.
4. Command 0x8006 "EnDat read Pos2, calculate and write offset" is used to write the calculated offset to object "EnDat Settings Ch. p" Index 0x80p8:12 "Offset value".
As soon as the status of the currently executed command object in index 0xB0p:02 "Status" = 1, the command has been accepted without errors.
The position value in index 0x60p:11 "Position" is now absolute.