ifm electronic RN7003 - Manual (Page 23)

UK
CANopen encoder
23
Bit Supported warnings
3���15
Warnings (object 0x6504/0x6503)
Manufacturer-specific objects 7
Object 0x5003, speed type 7.1
The object 0x5003 sets the update time and resolution (steps / second or rpm)
of the speed information� This object affects the speed object (0x6030) and the
acceleration object (0x6040)�
Speed type Setting
0 200 ms update time, steps / s
1 10 ms update time, steps / 10 ms
2 100 ms update time, steps / 100 ms
3 200 ms update time, rpm
The speed object is limited to a signed 16-bit value� In order to avoid data overflow
and optimise the accuracy it is recommended to calculate the optimum setting of
the speed type� Also transfer the scaling to the encoder� The amount of data is
limited and overflow is avoided as the calculation of the speed value is based on
the scaled singleturn value�
If the rotation of the shaft is faster than 1000 rpm and the speed type is 0 (steps/s),
a data overflow occurs� In this case a higher resolution is required, i�e� steps/100
ms�
The accuracy of the speed measurement depends on the selected resolution� The
figures in this table should be considered as reference values�
Speed type Shaft rotation
0 > 100 rpm
1 > 1000 rpm
2 > 1000 rpm
3 > 100 rpm
The table shows from which shaft speed the accuracy of the measured value
deviates less than 1%� In general, the accuracy improves irrespective of the
selected speed type, the higher the shaft rotation is�