Device profile CiA 406 definitions

Macros
#define	DS406_PROFILE_VERSION   0x0400U
#define	DS406_SUPPORTED_ALARMS   0x0001U
#define	DS406_SUPPORTED_WARNINGS   0x0002U
#define	DS406_RESOLUTION_SINGLE_TURN   16384U
#define	DS406_RESOLUTION_MULTI_TURN_32   0x01FFFFFFU
#define	MAN_OFFSET_VALUE   0x00000000
#define	MAN_MINPOS_VALUE   0x00000000
#define	MAN_MAXPOS_VALUE   0x00003FFF

Detailed Description

The stack behaviour of the device profile CiA 406 can be changed by the following definitions (located in the file cos406.h)

Macro Definition Documentation

DS406_PROFILE_VERSION

#define DS406_PROFILE_VERSION   0x0400U

Definition of the device profile version number, which can be read via index 6507_h.

DS406_RESOLUTION_MULTI_TURN_32

#define DS406_RESOLUTION_MULTI_TURN_32   0x01FFFFFFU

Note

This value must match the physical encoder hardware. The default of 2²⁵−1, assumes a 25-bit absolute encoder (e.g. 14-bit single-turn + 11-bit multi-turn).

Maximum total measuring range (in measuring units) for a multi-turn encoder whose position fits within a 32-bit value (object 6002_h). The value is used

This constant is used in three places:

• Default initial value of object 6002_h (total measuring range) at start-up
• Upper validation bound when writing objects 6002_h (total measuring range) and 6003_h (preset value); writes exceeding this value are rejected
• Constant value returned by object 6502_h (number of distinguishable revolutions)

Only relevant when COS_DS406 > 1.

DS406_RESOLUTION_SINGLE_TURN

#define DS406_RESOLUTION_SINGLE_TURN   16384U

Note

This value must match the physical encoder hardware. The default of 16384 assumes a 14-bit single-turn encoder (2¹⁴ steps per revolution).

Physical single-turn resolution of the encoder in steps per revolution. This constant affects four data elements in the object dictionary:

• Object 6501_h: the constant value reported as single-turn resolution
• Object 6001_h: initial value (measuring units per revolution) and upper limit for write validation; writes that exceed this value are rejected
• Object 6002_h: initial value (total measuring range) in single-turn configuration
• Object 6003_h: upper limit for write validation of the preset value in single-turn configuration

DS406_SUPPORTED_ALARMS

#define DS406_SUPPORTED_ALARMS   0x0001U

Definition of the supported alarms. The supported alarms can be read via index 6504_h.

DS406_SUPPORTED_WARNINGS

#define DS406_SUPPORTED_WARNINGS   0x0002U

Definition of the supported warnings. The supported warnings can be read via index 6506_h.

MAN_MAXPOS_VALUE

#define MAN_MAXPOS_VALUE   0x00003FFF

Definition of manufacturer-specific maximum position value. This parameter can be read via object 650A:03_h.

MAN_MINPOS_VALUE

#define MAN_MINPOS_VALUE   0x00000000

Definition of manufacturer-specific minimum position value. This parameter can be read via object 650A:02_h.

MAN_OFFSET_VALUE

#define MAN_OFFSET_VALUE   0x00000000

This value gives information on the shift of the zero point in the number of positions from the physical zero point of the encoder disk. This parameter can be read via object 650A:01_h.