Baumer ATD - Manual (Page 16)

EtherCAT 16/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
This object data will be stored non-volatile after any change. This register may only be changed in case of
ECAT state PREOP or SAFEOP.
2.4.1.8 Object 0x6001 Units per Revolution
This object indicates the number of distinguishable steps per revolution.
The 0x6001 object is a RW register that may be changed if sfc is enabled. The default value gives the En-
coder single turn resolution (e.g. 2
15
= 0x8000).
Resolutions of:
2
n
with n = n
ST
8 < n
ST
< Product Code specific resolution
Value ranges are
Product Code Encoder Type Units per Revolution
0x0001 0001 ATD4B***Y***15/16ECM12 0x0000 8000
0x0001 0002 ATD4B***Y***17ECM12 0x0008 0000
0x0002 0001 ATD2B***Y***14/16ECM12 0x0000 4000
0x0002 0002 ATD2B***Y***17ECM12 0x0008 0000
Table 16 Product specific maxima Units per Revolution value
This object data will be stored non-volatile into the encoder memory immediately after any change. This reg-
ister may only be changed in case of ECAT state PREOP or SAFEOP.
2.4.1.9 Object 0x6002 Total measuring range in measuring units
6
This object indicates the number of distinguishable steps over the total measuring range.
The 0x6002 object is a RW register that may be changed if sfc is enabled. The default value gives the En-
coder maxima single turn resolution (e.g. 2
15
= 0x8000) plus a multi turn maxima resolution (e.g. 2
16
-1 =
0xFFFF).Reducing this value always removes multi turn resolution bits keeping the single turn at it maxima
the value set up under object 0x6001. This register may only be changed in case of ECAT state PREOP or
SAFEOP.
Total measuring range in measuring units is:
2
n
with n = n
MT
(8 + n
ST
) < n
MT
< (16 + n
ST
)
The total measuring range can be calculated by the following formula:
= Single turn resolution (0x6001) x Number of distinguishable revolutions (0x6502)
= n
ST
+ n
MT
In case of an ST this Object is a mirror of the 0x6001 Object.
This object data will be stored non-volatile into the encoder.
2.4.1.10 Object 0x6003 Preset Value
This object indicates the preset value for the output position value. The 0x6003 object is a RW register in
case of ECAT state PREOP or SAFEOP, this means in OP state changes are not allowed. The device quits
changes during OP state with the SDO message “Abort ('Attempt to write a read only object', 0x06010002)”.
This object data shows a volatile (non back up) data default value is 0x00000000, true encoder offset value
is given by Object 0x6509.
6
For Multi Turn devices only