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  Creo hacer visto en algún hilo que se necesita también un diodo fly back para un rele ssr pero no veo claro como hay que conectarlo no se si esta es la forma corecta.

Servus Uwe,

at the moment i'm dedicated to learning for my exams next month, unfortunately i don't have the time right now, to revisit that topic. Eventually i will test that in august.

Personaly i would guess, the encoder has a resolution of 0.1 degree, so the pos-scale variable is just the maximum value, the encoder can reach.

For the second question, i'm not using the standard CiA402 XML-mapping, but i use the exact same syntax for all variables. I'm not entirely sure, why i went with that solution back in the day (i suspect, because i wanted to map the inputs/outputs of the drive too, which is not possible with the basic_402 defintion) and i do also not know, whether the basic_402 part of the XML file worked. As i said, eventually i will revisit that topic in late july or august.

Best Regards
Patrick