0x2113 Encoder 2 feedback
Feedback of the encoder configured as Encoder 2
| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
|---|---|---|---|---|---|---|---|---|---|
| Raw position | 0x2113:1 | UDINT | 32 | 0 | Inc | readonly (default) | Transmit PDO (Inputs) | ||
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Position value received by the encoder before any processing. In case of absolute encoders is the value read from the encoder (with or without MT depending on the encoder type). In case of incremental, it will be a running counter referenced to the position that the encoder had on startup. This value is not affected by polarity or ST offset. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
| Adjusted position | 0x2113:2 | DINT | 32 | 0 | Inc | readonly (default) | Transmit PDO (Inputs) | ||
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Encoder absolute position (referenced to the index) once Singleturn offset and Sensor polarity are applied. For incremental encoders, this position will be zero until the index has been found. |
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| Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
| Velocity | 0x2113:3 | DINT | 32 | RPM | readonly (default) | Transmit PDO (Inputs) | |||