User`s manual

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW
PAGE 5-26 C27750-001
5.6.2 Encoder Parameters
Parameter Name CANopen Index CANopen sub-index PDO mapping Data Type Access Default Value Minimum Value Maximum Value Units Storage Type Data Group Field Number
ENCODER CONFIGURATION
encoder_supply 0x2e20 1 no u08 r/w 5 5 12 V C A 1704
encoder_type 0x2e20 2 no u08 r/w 0 - 5 none C A 1705
encoder_number_of_increments 0x2e20 3 no u32 r/w 1024 1 - none C A 1706
encoder_direction_of_rotation 0x2e20 4 no u08 r/w 0 - 1 none C A 1707
encoder_resolution 0x2e20 5 no u08 r/w 10 2 31 none C A 1708
encoder_ssi_number_bits 0x2e20 6 no u08 r/w 13 2 32 none C A 1709
encoder_ssi_coding 0x2e20 7 no u08 r/w 0 - 1 none C A 1710
encoder_ssi_data_bit_mask 0x2e20 8 no u32 r/w 0xfffffffc - - none C A 1711
encoder_offset 0x2e20 9 yes s32 r/w 0 - - none C A 1712
encoder_position 0x2e20 10 yes s32 r - - - none N A 1713
encoder_commutation_position 0x2e20 11 yes s16 r - - - none N A 1714
encoder_set_position 0x2e20 15 no s32 r/w - - - none N A 1718
encoder_eeprom_enable 0x2e20 14 no u08 r/w 0 - - none C A 1717
Table 5.14 Encoder Parameter Access Detail