0x220A SSI Encoder 2

Configuration parameters for second SSI encoder.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x220A: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 0x220A: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 0x220A:3 UDINT 32 1 1 Inc/Revolution readwrite

Number of pulses in one revolution.

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

Resolution = 2^(number of singleturn bits)

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x220A: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 0x220A:5 BOOL 1
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 Min Data Max Data Default Data Unit Access PDO Mapping
Clock frequency 0x220A:6 UINT 16 99 1000 kHz readwrite

Frequency for the SSI clock line.

Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Frame size 0x220A:7 USINT 8 1 1 readwrite

Total amount of bits transmitted by the encoder in one frame.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Singleturn bits 0x220A:8 USINT 8 1 1 readwrite

Number of singleturn bits to read from the encoder.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Singleturn first bit position 0x220A:9 USINT 8 0 readwrite

Position of the first bit of singleturn position on the SSI frame. Position 0 of the frame corresponds to the first bit transmitted.

For most of the SSI encoders, this value is equal to: Multiturn bits + Multiturn first bit position.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Multiturn bits 0x220A:10 USINT 8 0 readwrite

Number of multiturn bits to read from the sensor.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Multiturn first bit position 0x220A:11 USINT 8 0 readwrite

Position of the first bit of multiturn position on the SSI frame. Position 0 of the frame corresponds to the first bit transmitted.

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

Only relevant if Multiturn bits is bigger than 0.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Parity type 0x220A:12 USINT 8
No parity 0
Odd parity 1
Even parity 2
readwrite

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 0x220A:13 UINT 16 0 μs readwrite

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 0x220A:14 BOOL 1
Natural Binary Code 0
Reflected Binary Code 1
readwrite

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 0x220A:15 BOOL 1
MSB first 0
LSB first 1
readwrite

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

Usually MSB is transmitted first.