0x2203 REM 16MT encoder

Configuration parameter for REM 16MT encoder

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x2203:1 USINT 8
HALL 1
Incremental 2
A-Format 3
BISS 4
REM 16MT 6
SSI 7
iC-MD 8
iC-NQC 9
readonly (default)
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Function 0x2203:2 USINT 8
Disabled 0
Commutation & Motion Control Feedback 1
Commutation & Monitoring (#0x230A, #0x230B) 2
Motion Control Feedback only 3
Monitoring only (#0x230A, #0x230B) 4
Commutation only 5
Position 6
Commutation & Velocity 7
readwrite

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback and monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function. 

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Resolution 0x2203:3 UDINT 32 65536 Inc/Revolution readonly (default)

The total number of increments (positions) per revolution for the REM 16MT encoder is 65536. This parameter is pre-configured.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x2203:4 UDINT 32 0 5000 μs readwrite

Time threshold to set the velocity to 0 if no new position was received from the encoder.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Polarity 0x2203:5 USINT 8
Normal Polarity 0
Inverted Polarity 1
readwrite

Altering the default values is recommended for expert users only!

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Filter 0x2203:6 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

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).