ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 50)

Object 0x608F: Position encoder resolution
This object defines the ratio of encoder increments per motor revolution:
resolution encoder position _ _
=
s revolution motor
increments encoder
_
_
Object description:
Index 608Fh
Name Position encoder resolution
Object code ARRAY
Data type UNSIGNED32
Category Optional
Entry description:
Sub-index 0
Description Number of entries
Entry category Mandatory
Access Read only
PDO mapping No
Value range 2
Default value 2
Sub-index 1
Description Encoder increments
Entry category Optional
Access Read/write
PDO mapping No
Value range UNSIGNED32
Default value 1
Sub-index 2
Description Motor revolutions
Entry category Optional
Access Read/write
PDO mapping No
Value range UNSIGNED32
Default value 1
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
44