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Manufacturer and Profile Specific Objects (CiA DS-406)
8.1 Object 2000h: Mode selection TR / CiA DS-406
With the mode selection can be selected which scaling parameter should be used.
Normally the parameters according to the encoder profile CiA DS-406 are used. For
special applications it can be switched over to TR parameter to use expanded gear
functions.
Index
Description
Data type
Category
Access
PDO mapping
Lower limit
Upper limit
Default
Activation/Storage
Only the parameters in the active mode can be changed. Not listed objects apply for
both modes.
0x6000, Counting direction
0x6001, Single measuring range
0x6002, Total measuring range in steps
TR-Electronic GmbH 2016, All Rights Reserved
Page 112 of 143
0x2000
TR-Parameter used
UNSIGNED16
Optional
rw
No
0x0000 = CiA DS-406 mode
0x0001 = TR mode
0x0000
by object 0x1010
CiA DS-406 mode
TR - ECE - BA - DGB - 0127 - 04
TR mode
0x2001, Counting direction
0x2002, Total measuring range in steps
0x2003, Number of revolution - numerator
0x2004, Number of revolution - denominator
Printed in the Federal Republic of Germany
06/20/2017
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