Configuration parameter for first incremental encoder
Object Type | OBJECT_TYPE_RECORD |
---|---|
Index | 0x2205 |
SubIndex | 0 |
Type | USINT |
Bit Size | 8 |
Deftype | DEFTYPE_UNSIGNED8 |
Min Data | |
Max Data | |
Default Data | |
Unit | |
Access | readonly (default) |
Category | mandatory |
PDO Mapping |
For internal purposes only!
Object Type | OBJECT_TYPE_RECORD |
---|---|
Index | 0x2205 |
SubIndex | 1 |
Type | USINT |
Bit Size | 8 |
Deftype | DEFTYPE_UNSIGNED8 |
Min Data | |
Max Data | |
Default Data | |
Unit | |
Access | readwrite |
Category | mandatory |
PDO Mapping |
HALL | 1 |
---|---|
Incremental | 2 |
BISS | 4 |
REM 14 | 5 |
REM 16MT | 6 |
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 | 0x2205 |
SubIndex | 2 |
Type | USINT |
Bit Size | 8 |
Deftype | DEFTYPE_UNSIGNED8 |
Min Data | |
Max Data | |
Default Data | |
Unit | |
Access | readwrite |
Category | mandatory |
PDO Mapping |
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 |
Total number of quadrature counts.
Resolution = Lines per Revolution * 4
Note:
Pulses = Lines = Cycles
Positions = Counts = Increments = 4 * Pulses
Object Type | OBJECT_TYPE_RECORD |
---|---|
Index | 0x2205 |
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 |
The time period between two position samples. This value is used to calculate the velocity.
Object Type | OBJECT_TYPE_RECORD |
---|---|
Index | 0x2205 |
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 |
Altering the default values is recommended for expert users only!
Object Type | OBJECT_TYPE_RECORD |
---|---|
Index | 0x2205 |
SubIndex | 5 |
Type | USINT |
Bit Size | 8 |
Deftype | DEFTYPE_UNSIGNED8 |
Min Data | |
Max Data | |
Default Data | |
Unit | |
Access | readwrite |
Category | mandatory |
PDO Mapping |
Normal Polarity | 0 |
---|---|
Inverted Polarity | 1 |
Can be set as two-channels (without index) or three-channels (with index)
Object Type | OBJECT_TYPE_RECORD |
---|---|
Index | 0x2205 |
SubIndex | 6 |
Type | USINT |
Bit Size | 8 |
Deftype | DEFTYPE_UNSIGNED8 |
Min Data | |
Max Data | |
Default Data | |
Unit | |
Access | readwrite |
Category | mandatory |
PDO Mapping |
2-channel (no index) | 2 |
---|---|
3-channel (with index) | 3 |
Differential (RS422) or Single-ended (TTL).
Object Type | OBJECT_TYPE_RECORD |
---|---|
Index | 0x2205 |
SubIndex | 7 |
Type | USINT |
Bit Size | 8 |
Deftype | DEFTYPE_UNSIGNED8 |
Min Data | |
Max Data | |
Default Data | |
Unit | |
Access | readwrite |
Category | optional |
PDO Mapping |
Differential RS422 | 0 |
---|---|
Single-ended TTL | 1 |