0x2206 Incremental Encoder 2

Configuration parameter for second incremental encoder

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x2206:1 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 0x2206:2 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 0x2206:3 UDINT 32 1 1 Inc/Revolution readwrite

Total number of quadrature edges per revolution.

Resolution = Cycles per Revolution * 4

 

Note:

Cycles = Pulses = Lines

Positions = Counts = Increments = 4 * Cycles

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x2206:4 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 0x2206:5 USINT 8
Normal Polarity 0
Inverted Polarity 1
readwrite

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 Options Unit Access PDO Mapping
Number of channels 0x2206:6 USINT 8
2-channel (no index) 2
3-channel (with index) 3
readwrite

Can be set as two-channels (without index) or three-channels (with index).

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Access signal type 0x2206:7 USINT 8
Differential RS422 0
Single-ended TTL 1
readwrite

Differential (RS422) or Single-ended (TTL).