0x2204

0x2204:0 REM 14 Encoder

Configuration parameter for REM 14 encoder

Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 0
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readonly (default)
Category mandatory
PDO Mapping

0x2204:1 Type

For internal purposes only!

Object Type OBJECT_TYPE_RECORD
Index 0x2204
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

0x2204:2 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 0x2204
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

0x2204:3 Resolution

16,384 is the total number of Increments (Positions) per Revolution for the REM 14 encoder.

Object Type OBJECT_TYPE_RECORD
Index 0x2204
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

0x2204:4 Velocity calculation period

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

Object Type OBJECT_TYPE_RECORD
Index 0x2204
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

0x2204:5 Polarity

Altering the default values is recommended for expert users only!

Object Type OBJECT_TYPE_RECORD
Index 0x2204
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

0x2204:6 Hysteresis

Only affects the optional ABI interface. See AMS AS5047D Datasheet for more information.

Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 6
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data 0
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping

0x2204:7 Noise settings

Allows enabling reduced noise settings.

Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 7
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
normal (DEFAULT) 0
reduced 1

0x2204:8 Dynamic angle error compensation

Enables (Default) or disables dynamic angle error compensation.

Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 8
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
disabled 0
enabled (DEFAULT) 1

0x2204:9 Resolution settings

Only affects the optional ABI interface.

Object Type OBJECT_TYPE_RECORD
Index 0x2204
SubIndex 9
Type USINT
Bit Size 8
Deftype DEFTYPE_UNSIGNED8
Min Data
Max Data
Default Data
Unit
Access readwrite
Category optional
PDO Mapping
Options
11-bit (2048 steps) 0
10-bit (1024 steps) 1