0x2202

0x2202:0 BISS Encoder 2

Configuration parameters for second BISS encoder.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2202:1 Type

For internal purposes only!

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping
Options
HALL 1
Incremental 2
BISS 4
REM 14 5
REM 16MT 6

0x2202:2 Function

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.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping
Options
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

0x2202:3 Resolution

For Absolute n-bit Binary Sensor: Resolution = 2^n

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data 1
Max Data
Default Data
Unit Inc/Revolution
Access readwrite
Category mandatory
PDO Mapping

0x2202:4 Velocity calculation period

The time period between two position samples. This value is used to calculate the velocity.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data 66
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2202:5 Polarity

Altering the default values is recommended for expert users only!

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping
Options
Normal Polarity 0
Inverted Polarity 1

0x2202:6 Multiturn resolution

Total number of revolutions that are counted by the encoder.

If this value is different than 0, multiturn + singleturn bits can't be higher than 31.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 6
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:7 Clock frequency

Please refer to your encoder data sheet for the specific values.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 7
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data 1
Max Data
Default Data
Unit kHz
Access readwrite
Category mandatory
PDO Mapping

0x2202:8 Timeout

Please refer to your encoder data sheet for the specific values.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 8
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit μs
Access readwrite
Category mandatory
PDO Mapping

0x2202:9 CRC polynom

Please refer to your encoder data sheet for the specific values.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 9
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:10 Clock port config (disabled)

This parameter has been disabled. Please refer to http://somanet.rocks/ in order to check how to connect MA and SLO.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 10
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2202:11 Data port config (disabled)

This parameter has been disabled. Please refer to http://somanet.rocks/ in order to check how to connect MA and SLO.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 11
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2202:12 Number of filling bits

Please refer to your encoder data sheet for the specific values.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 12
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category mandatory
PDO Mapping

0x2202:13 Number of bits to read while busy

Please refer to your encoder data sheet for the specific values.

Object Type OBJECT_TYPE_RECORD
Index 0x2202
SubIndex 13
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping