0x220E SinCos Module

Configuration parameters for SinCos Module.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x220E: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 0x220E: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 0x220E:3 UDINT 32 1 1 Inc/Revolution readonly (default)

Number of pulses in one revolution.

This value is automatically calculated using the value of "Sinewave cycles per revolution" and "Sinewave resolution" as:

Resolution = Sinewave cycles per revolution * Sinewave resolution

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x220E: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 0x220E: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 Min Data Max Data Default Data Unit Access PDO Mapping
Sinewave cycles per revolution 0x220E:6 UINT 16 1 1 readwrite

Number of sinewaves cycles in one motor revolution.

This value is going to be used to calculate the singleturn resolution (Resolution).

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Sinewave resolution 0x220E:7 USINT 8
8 13
16 12
32 11
64 10
128 9
256 8
512 7
1024 6
2048 5
4096 4
8192 3
Inc readwrite

Select desired number of pulses in one sinewave.

This value is going to be used to calculate the singleturn resolution (Resolution).

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Sinusoidal output voltage 0x220E:8 USINT 8
up to 50 mVpp 15
up to 60 mVpp 14
up to 75 mVpp 13
up to 0.1 Vpp 12
up to 0.12 Vpp 11
up to 0.14 Vpp 10
up to 0.15 Vpp 9
up to 0.2 Vpp 8
up to 0.28 Vpp 7
up to 0.4 Vpp 6
up to 0.5 Vpp 5
up to 0.6 Vpp 4
up to 0.75 Vpp 3
up to 1 Vpp 2
up to 1.2 Vpp 1
up to 1.5 Vpp 0
readwrite

Differential voltage in the Sin/Cos outputs peak to peak.

It is often abreviated as Vpp.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Index availability 0x220E:9 BOOL 1
Encoder without index 0
Encoder with index 1
readwrite

Define if the connected encoder has an index or not.

The index is often called "reference".