User Manual

PD57/60-1260 CANopen
®
Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2017-DEC-21
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Object Description
Index Name Object Type Data Type
606A
h
Sensor selection code Variable SIGNED16
Table 200: Object Description (606A
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/-1/-2 -1
Table 201: Entry Description (606A
h
)
5.1.9 Object 608F
h
: Position Encoder Resolution
This object defines the resolution of the encoder. The position encoder resolution is calculated by the
following formula:
position encoder resolution =
encoder increments
motor revolutions
All values are dimensionless.
This object is only valid for an externally connected inremental encoder. The resolution of the internal
encoder is fixed.
Object Description
Index Name Object Type Data Type
608F
h
Position Encoder Resolution Array UNSIGNED32
Table 202: Object Description (608F
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 2 2
1 Encoder increments rw no 0. . . 2147483647 1
2 Motor revolutions ro no 1 1
Table 203: Entry Description (608F
h
)
5.1.10 Object 60FD
h
: Digital Inputs
This object contains the states of the digital inputs of the module. Starting from bit 0, every bit reflects the
state of one digital input. The number of valid bits depends on the number of digital inputs on the module
used.
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