Encoder value range for EtherCAT drives(P-AXIS-00296)

P-AXIS-00296

Encoder value range for EtherCAT drives

Description

If a position encoder is connected to the drive that delivers a modulo position, the NC kernel has to handle the encoder overflow. The value range of the encoder used must therefore be set in this parameter. The value range indicates the number of different position values supplied by the encoder.

If the parameter is not assigned, the value range of the encoder is defined by modulo limits (P-AXIS-00127 and P-AXIS-00126).

Parameter

lr_hw[i].encoder_range

Data type

UNS32

Data range

512 … MAX(SGN32)+1

Axis types

T, R, S

Dimension

T: increments

R,S: increments

Default value

0

Drive types

CANopen

Remarks

This parameter is used only for EtherCAT drives.

Example:

Encoder with 16-bit resolution

The encoder delivers 2¹⁶ = 65536 different positions (0… 65535), therefore, the parameter encoder_range must be set to 65536.

This parameter only has an effect if value 2 (modulo) is set for P-AXIS-00122 (mode_act_pos).