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Object 2000h: Position Value

This object contains the position value.

Subindex Description Data Type Default Value Access Restore after

BootUp

0 Position Value Unsigned 32 - ro n.a.

Object 2100h: Operating Parameters

As op

erating parameters the code sequence (Complement) can be selected and the limit switches can be

turned on or off.

Subindex Description Data Type Default Value Access Restore after

BootUp

0 Operating Parameters Unsigned 8 0h rw yes

The parameter code sequence (Complement) determines the counting direction, in which the output

process value increases or decreases (CW = Clockwise, CCW = Counterclockwise). The code sequence

is determined by Bit 0 in Index 2100h. Additionally, the two limit switches, Min. and Max. can be turned on

or off in Index 2100h. Optional an event triggered PDO can be activated. Remark: This function produces a

PDO with every change of the position value. Due to this, there will be generated a large amount of PDOs

and a heavy bus load.

Bit 0 Code

sequence

Code Bit 1 Limit switch,

min.

Bit 2 Limit switch,

max.

Bit 3 Event triggered

PDO

0 CW increasing 0 off 0 off 0 off

1 CCW increasing 1 on 1 on 1 on

Calculation Example: Target: Absolute rotary encoder with direction CCW increasing, limit switch min

enabled, limit switch max disabled and event-triggered PDOs enabled.

Bitmatrix:

Bit 0 = 1 Direction increasing CCW

Bit 1 = 1 Limit switch min. enabled

Bit 2 = 0 Limit switch max. disabled

Bit 3 = 1 Event triggered

Result = 1011b = Bh

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Bei-sensors THK4 Bedienungsanleitung Seite 29