0x2203

0x2203:0 REM 16MT Encoder

Configuration parameter for REM 16MT encoder

Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2203:1 Type

For internal purposes only!

Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 1
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
HALL 1
Incremental 2
BISS 4
REM 14 5
REM 16MT 6

0x2203:2 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 0x2203
SubIndex 2
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
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

0x2203:3 Resolution

The total number of increments (positions) per revolution for the REM 16MT encoder is 65536. This parameter is pre-configured.

Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 3
Type UDINT
Bit Size 32
Deftype DEFTYPE_UNSIGNED32
Min Data
Max Data
Default Data
Unit Inc/Revolution
Access readonly (default)
Category optional
PDO Mapping

0x2203:4 Velocity calculation period

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

Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 4
Type UINT
Bit Size 16
Deftype DEFTYPE_UNSIGNED16
Min Data 66
Max Data
Default Data
Unit μs
Access readwrite
Category optional
PDO Mapping

0x2203:5 Polarity

Altering the default values is recommended for expert users only!

Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 5
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
Normal Polarity 0
Inverted Polarity 1

0x2203:6 Filter

The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs).

Object Type OBJECT_TYPE_RECORD
Index 0x2203
SubIndex 6
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
Disabled 0
Filter strength 2 (weakest) 2
Filter strength 3 3
Filter strength 4 4
Filter strength 5 5
Filter strength 6 6
Filter strength 7 7
Filter strength 8 8
Filter strength 9 (strongest) 9