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Encoder position-object – Baumer GXP8W User Manual

Page 9

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Baumer IVO GmbH & Co. KG

04.05.11

Villingen-Schwenningen,

Germany

8. Encoder Position-Object

The Encoder Position Object is a manufacturer-specific object with class code 2Fh.

Entity attributes
Due to their different functionality, entity attributes are broken down into two groups.
The first group, attribute 1 to 12 comprises the parameters for position calculating.
The second group, attribute 90 to 95 comprises the diagnostic functions.
Altered parameters are not stored in the non-volatile memory until by service “save”.

Chart: Parameters for position calculating

Attribute -
ID

Access

Name

Data type Significance

Values

1

read

Number of attributes USINT

Number of attributes supported

2 read

Attributes Array

of

USINT

List of attributes supported

3 read/

write

Sense of rotation

BOOL

Setting the sense of rotation

0 = CW
1 = CCW

4 read

Internal

diagnostic

function

BOOL

Not used

0 = OFF

5

read

Scaling function

BOOL

Scaling function active

1 = ON

6

read

Position format

USINT

Position value format

0 = steps

7

read/ write Steps per revolution

UDINT

Number of desired steps per
revolution

see
operating
parameter

8

read/ write Total resolution

UDINT

Number of desired steps
exceeding the measurement
range

see
operating
parameter

9 read

Reserved UDINT

reserved

=

0

10

read/ write Preset value

UDINT

Position value is set to the preset
value

see
operating
parameter

11

read/ write COS-Delta

DINT

Minimum divergent value of the
position in COS mode

1 to total
resolution

12

read

Position value

DINT

actual position value

1 to total
resolution



Steps per revolution
The parameter „steps per revolution“ defines the number of steps per revolution. Upon setting this parameter,
the total resolution will change correspondingly according the following formula:
Total resolution = steps per revolution x revolutions

Sense of rotation
The sense of rotation defines whether the position values are increasing with clockwise rotation (CW) or
counterclockwise rotation (CCW) of the shaft.

Total resolution in steps
The parameter „total resolution in steps“ defines the total number of steps covering the complete
measurement range.
Example: steps per revolution = 3600; revolutions = 256; Æ total resolution = 3600 x 256 = 921600

If the number of revolutions relating to a value is programmed unequal 2

n

(1, 2, 4,...65536), the encoder must

be parameterized anew after crossing the encoder zero point in powerless state.