BEI Sensors THK4 - Manual (Page 38)

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Object 6030h: Speed Value
This object contains the speed value of the encoder.
Subindex Description Data Type Default Value Access Restore after
BootUp
0h Number of sub indices Unsigned 8 1h ro
1h Speed value channel1 Integer 16 - romap yes
If the velocity exceeds the data type, the speed value is frozen to the maximal possible value.
The customer can use the 3010h (32 bit) object.
Object 6040h: Acceleration Value
This object contains the acceleration value of the encoder.
Subindex Description Data Type Default Value Access Restore after
BootUp
0h Number of sub indices Unsigned 8 1h ro
1h Acceleration value channel1 Integer 16 - romap yes
Object 6200h: Cyclic timer
This object contains the value of the event timer of the corresponding TPDOs. The value can be changed
between 1-65538 ms.
Subindex Description Data Type Default Value Access Restore after
BootUp
0h Cyclic Time Unsigned 16 64h rw yes
The object 6200h is hard-wired to the objects 1800h subindex 5h and 2200h and provide the cycle time for
the cyclic mode. (See chapter Cycle Time and Event Timer)