0x2112 Encoder 2 configuration

All configuration options for Encoder 2

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Sensor port 0x2112:1 USINT 8
No sensor port 0
Sensor port 1 1
Sensor port 2 2
Sensor port 3 3
Sensor port 4 4
Sensor port 5 5
readwrite

All encoders

The sensor port on which this encoder is connected.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x2112:2 USINT 8
None 0
Hall sensor 1
Incremental encoder 2
Nikon A-format 3
BiSS 4
Internal encoder 5
SSI 7
SinCos module 9
readwrite

All encoders

Select the type of encoder you want to use.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Resolution 0x2112:3 UDINT 32 1 1 Inc/Revolution readwrite

BiSS/SSI

Number of pulses in one revolution.

Most of BiSS/SSI encoders have a binary resolution, which means:

Resolution = 2^(subindex 12 Singleturn bits).

Incremental encoder

Total number of quadrature edges per revolution.

Resolution = Cycles per Revolution * 4

Hall sensor/Nikon A-Format/SinCos module

For these encoders this parameter is configured automatically.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x2112:4 UDINT 32 0 1000000 4000 μs readwrite

Incremental encoder

This parameter is only used for the velocity calculation of incremental encoders.

If no new tick is received from the encoder during the time specified in this parameter, the velocity of the encoder will be set to 0.

The value will automatically be rounded down to a multiple of 62.5 us.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Polarity 0x2112:5 BOOL 1
Normal polarity 0
Inverted polarity 1
readwrite

All encoders

Invert the direction of movement of the encoder. This is the equivalent of physically flipping the encoder, so the commutation angle offset will not be valid after changing this parameter.

If you have an axis with two encoders (one for commutation and one for position and velocity), the direction of each encoder must match for control stability. This polarity parameter can be used for flipping the direction of the position or velocity encoder relative to the sensor used for commutation.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Singleturn offset 0x2112:6 UDINT 32 0 Inc readwrite

Absolute encoders (BiSS/SSI/Nikon A-format)

This value is subtracted from the singleturn value received from the encoder. It is the equivalent of physically moving the encoder, so the commutation angle offset will not be valid after changing this parameter. This parameter has to be lower than the resolution of the encoder.

The singleturn offset is applied after the subindex 5 Polarity has been applied.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Access signal type 0x2112:7 BOOL 1
Differential RS422 0
Single-ended TTL 1
readwrite

Incremental encoder

Select if the encoder signal is differential (RS422) or single-ended (TTL).
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Clock frequency 0x2112:8 UINT 16 1000 16000 1000 kHz readwrite

BiSS/SSI

Select the clock frequency for the BiSS MA line or the SSI clock line. Refer to your encoder's datasheet to determine the minimum and maximum allowable frequency values for your encoder.

The drive supports only certain discrete clock frequencies. If you input a frequency outside these discrete values, the drive will set the closest possible frequency.

To calculate the actual frequency that will be used by the drive:

1. Divide 25000 by the desired clock frequency (in kHz).

2. Round the result to the nearest integer.

3. Divide 25000 by this rounded value.

4. The real frequency will be the lowest number between the value obtained in the previous step and 5000 kHz. 

For example, when setting 4000 KHz the real frequency will be 4166.67 kHz.

Nikon A-format

Select the transmission speed of the encoder. The only possible values are 2500, 4000, 6670, 8000 and 16000 kbps.

See encoder datasheet for more information.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Frame size 0x2112:9 USINT 8 1 1 readwrite

BiSS

The BiSS service expects an encoder that has the following frame structure:

- SLO line high when encoder is ready to start communicating.

- Ack bit (which can be extended to multiple bits by the encoder).

- Start bit when the encoder is ready to transmit the data.

- CDS bit for register communication.

- Payload (any data can be sent here, but the only data that can be processed is Multiturn and singleturn position).

- Error and warning bits, in this order.

- Variable length CRC.

- Timeout.

This parameter specifies the number of bits transmitted as Payload.

SSI

This parameter specifies the number of bits transmitted in one encoder frame.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Multiturn bits 0x2112:10 USINT 8 0 readwrite

BiSS/SSI/Nikon A-format

Number of multiturn bits to read from the encoder.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Multiturn first bit position 0x2112:11 USINT 8 0 readwrite

BiSS/SSI

Position of the first bit of multiturn position on the frame. Position 0 of the frame corresponds to the first bit transmitted within the frame size specified in subindex 9 Frame size.

Usually this value is 0, since multiturn is the first element on the frame.

Only relevant if subindex 10 Multiturn bits is bigger than 0.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Singleturn bits 0x2112:12 USINT 8 1 1 readwrite

BiSS/SSI

Number of singleturn bits to read from the encoder.

Nikon A-format

Number of singleturn bits to read from the encoder. The only possible values are 17, 20, 22 and 24.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Singleturn first bit position 0x2112:13 USINT 8 0 readwrite

BiSS/SSI

Position of the first bit of singleturn position on the frame. Position 0 of the frame corresponds to the first bit transmitted within the frame size specified in subindex 9 Frame size.

For most of the BiSS/SSI encoders, this value is equal to: subindex 10 Multiturn bits + subindex 11 Multiturn first bit position.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Timeout 0x2112:14 USINT 8 36 μs readwrite

BiSS/SSI

Timeout that will be sent by the drive at the end of each BiSS/SSI frame, which informs the encoder that the frame is over.

Refer to your encoder datasheet to check what is the minimum value for this parameter.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
CRC polynomial 0x2112:15 USINT 8 67 readwrite

BiSS

Polynomial for the CRC calculation of the sensor data (SCD).

This value is obtained by writing the polynomial in binary representation.

For example: x^6 + x^3 + x^1 + x^0 is 0b1001011 = 0x4B = 75.

The default value of 67 (x^6 + x^1 + x^0 = 0b1000011 = 0x43) is the one used for most of the BiSS encoders.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Maximum tbusy 0x2112:16 USINT 8 20 μs readwrite

BiSS

This value defines the maximum time to wait for the Start bit once the Ack bit was already received. If the Start bit is not sent after this time, the error BisSrtBt is raised.

Check your encoder datasheet to find what's the typical or maximum value for this parameter.

It is advised to try to increase this number in case the error BisSrtBt appears, which is likely to happen because the encoder needed more time to process the data before sending the Start bit.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Status bits active value 0x2112:17 USINT 8
Status bits active low 0
Status bits active high 1
readwrite

BiSS

Value of the status bits when active. The BiSS-C standard recommends that these bits are active low, so most encoders should work with the default value.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Parity type 0x2112:18 USINT 8
No parity 0
Odd parity 1
Even parity 2
readwrite

SSI

Type of parity read from the encoder. If there is parity, it should be the last bit on the SSI frame.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
First clock delay 0x2112:19 UINT 16 0 μs readwrite

SSI

Delay after first clock edge. This is compatible only with some encoders (will be specified in the encoder datasheet). If your encoder supports this function, it's normally used to be able to increase the maximum allowable clock frequency.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Data ordering 0x2112:20 BOOL 1
Natural Binary Code 0
Reflected Binary Code 1
readwrite

SSI

Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code).
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Endianness 0x2112:21 BOOL 1
MSB first 0
LSB first 1
readwrite

SSI

Order of the bits (Most Significant Bit or Least Significant Bit transmitted first).

Usually MSB is transmitted first.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Index availability 0x2112:22 BOOL 1
Encoder without index 0
Encoder with index 1
readwrite

Incremental encoder/SinCos module

Define if the connected encoder has an index or not.

For SinCos encoders the index is often called "reference".

Incremental encoders without index are often called AB encoders, while incremental encoders with index are often called ABI encoders.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Hall sensor port 0x2112:23 USINT 8
No sensor port 0
Sensor port 1 1
Sensor port 2 2
Sensor port 3 3
Sensor port 4 4
Sensor port 5 5
readwrite

Incremental encoder

This parameter is used to define to which Sensor port the Hall sensor is connected in case of using it together with an incremental encoder in order to have an approximate absolute position while the incremental encoder index is not yet found.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Sinewave cycles per revolution 0x2112:24 UINT 16 1 1 readwrite

SinCos module

Number of sinewaves cycles in one motor revolution.

This value is going to be used to calculate the singleturn resolution (subindex 3 Resolution).
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Sinewave resolution 0x2112:25 USINT 8
8 13
16 12
32 11
64 10
128 9
256 8
512 7
1024 6
2048 5
4096 4
8192 3
Inc readwrite

SinCos module

Select desired number of pulses in one sinewave.

This value is going to be used to calculate the singleturn resolution (subindex 3 Resolution).
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Sinusoidal output voltage 0x2112:26 USINT 8
up to 50 mVpp 15
up to 60 mVpp 14
up to 75 mVpp 13
up to 0.1 Vpp 12
up to 0.12 Vpp 11
up to 0.14 Vpp 10
up to 0.15 Vpp 9
up to 0.2 Vpp 8
up to 0.28 Vpp 7
up to 0.4 Vpp 6
up to 0.5 Vpp 5
up to 0.6 Vpp 4
up to 0.75 Vpp 3
up to 1 Vpp 2
up to 1.2 Vpp 1
up to 1.5 Vpp 0
readwrite

SinCos module

Differential voltage in the Sin/Cos outputs peak to peak.

It is often abbreviated as Vpp.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Filter (disabled) 0x2112:27 USINT 8
Disabled 0
Filter strength 2 (weakest) 2
Filter strength 3 3
Filter strength 4 4
Filter strength 5 5
Filter strength 6 6
Filter strength 7 7
Filter strength 8 8
Filter strength 9 (strongest) 9
readwrite

REM 16MT

The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs).
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Sampling frequency 0x2112:28 USINT 8
16 kHz 1
32 kHz 2
readwrite

BiSS/SSI/Nikon A-format/Internal encoder

Select if the encoder should be sampled at 16 or 32 kHz.

If the encoder only allows one of the sampling frequencies, the value will be reverted automatically.