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 |