Encoder value range for EtherCAT drives(P-AXIS-00296)

P-AXIS-00296

Encoder value range for EtherCAT drives

Description

By default EtherCAT drives deliver an absolute position as actual position. If an encoder is connected to the drive which delivers a modulo position, the NC has to handle the encoder overflow. To do this, the encoder range (number of different positions delivered by the encoder) in the encoder must be set in this parameter.

If this parameter is not used, an encoder with 32-bit resolution is expected (default).

Parameter

lr_hw[i].encoder_range

Data type

UNS32

Data range

512 … MAX(SGN32)+1

Axis types

T, R, S

Dimension

T: increments

R,S: increments

Default value

0

Drive types

CANopen

Remarks

This parameter is used only for EtherCAT drives.

Example:

Encoder with 16-bit resolution

The encoder delivers 2¹⁶ = 65536 different positions (0… 65535), therefore, the parameter encoder_range must be set to 65536.

This parameter only has an effect if the value 2 (modulo) is set for P-AXIS-00122 (mode_act_pos).