ifm electronic RM9000 - Manual (Page 23)

UK
CANopen encoder
23
7.5 Device-profile-specific objects from 6000h to 9FFFF
Index S-Idx Name Type,
access
default value Description
6000 Operating
parameters
u16, rw 1h The object sets the counting direction,
the diagnostic function and the scaling
function�
Note: The counting direction is always
seen looking at the shaft� With clockwise
direction of the shaft (CW) the counting
direction is increasing�
Scaling function:
Using the scaling function the position value provided can be adapted to the requirements of
the application via the software� The objects 6001 and 6002 of the device profile are scaling
parameters� When the scaling bit has been set to zero, scaling is switched off�
Bit structure
Bit 15 14 13 12 11���4 3 2 1 0
Description MS MS MS MS R MD SFC CD CS
Abbreviations:
MS = manufacturer-specific function (not available)
R = reserved
MD = measurement direction (not available)
SFC = scaling function (0 = off, 1 = on)
CD = commissioning diagnostic control (not available)
CS = counting direction 0 = CW (clockwise); 1 = CCW (counter-clockwise)
6001 0 Measuring
units per
revolution
u32, rw see
type label
Setting steps per revolution
6002 0 Total
measuring
range in
measuring
units
u32, rw see
type label
Setting the total resolution of the
measuring range
6003 0 Preset value u32, rw 0 Setting the preset value for the encoder
6004 0 Position value u32,
romap
- The object gets the position value
6030 Speed value
If the max� possible value is exceeded,
the value stops there� The user can use
the object 3010 (32 bits)�
0h Number of sub
indices
u8, ro 1h
1h Speed value
channel 1
integer
16, romap
-