0x220C Fast ABI Module

Configuration parameters for Fast ABI Module.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x220C: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 0x220C: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 0x220C: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 0x220C:4 UDINT 32 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 0x220C: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
Signal type 0x220C:6 BOOL 1
Differential RS422 0
Single-ended TTL 1
readwrite

The input for the incremental signals ABZ is configurable as single-ended TTL and differential (RS-422).

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Index availability 0x220C:7 BOOL 1
AB encoder (without index) 0
ABI encoder (with index) 1
readwrite

Define if the connected encoder has an index (ABI) or not (AB).

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Index-A configuration 0x220C:8 BOOL 1
Z active when A=1 0
Z active when A=0 1
readwrite

Specifiy what is the value of the A line when the index is active. This value needs to be configured according to the connected ABI sensor for the adapter to work properly.

This parameter is not relevant if the encoder connected doesn't have an index.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Index-B configuration 0x220C:9 BOOL 1
Z active when B=1 0
Z active when B=0 1
readwrite

Specifiy what is the value of the B line when the index is active. This value needs to be configured according to the connected ABI sensor for the adapter to work properly.

This parameter is not relevant if the encoder connected doesn't have an index.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Index inverted 0x220C:10 BOOL 1
Non inverted 0
Inverted 1
readwrite

The index (Z) signal can be inverted (Z=0 active) using this parameter.

This parameter is not relevant if the encoder connected doesn't have an index.