0x220B A Format Encoder

Configuration parameters for A-Format encoder.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x220B: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 0x220B: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 0x220B:3 UDINT 32 0 Inc/Revolution readonly (default)

Number of pulses in one revolution.

This value is automatically calculated using the value of "Singleturn resolution".

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x220B: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 0x220B: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
Transmission speed 0x220B:6 USINT 8
2.5 Mbps 0
4 Mbps 1
6.67 Mbps 2
8 Mbps 3
16 Mbps 4
readwrite

See encoder datasheet for more information.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Singleturn resolution 0x220B:7 USINT 8
17 bits 0
20 bits 1
22 bits 2
24 bits 3
readwrite

See encoder datasheet for more information.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Absolute encoder type 0x220B:8 BOOL 1
ST-ABS 0
MT-ABS 1
readwrite

Select if the encoder has only singleturn data (ST-ABS) or both multiturn and singleturn data (MT-ABS). See encoder datasheet for more information.