0x2205

0x2205:0 Incremental Encoder 1

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

0x2205:1 Type

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
Options
HALL 1
Incremental 2
BISS 4
REM 14 5
REM 16MT 6

0x2205:2 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 0x2205
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

0x2205:3 Resolution

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

0x2205:4 Velocity calculation period

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

Object Type OBJECT_TYPE_RECORD
Index 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

0x2205:5 Polarity

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
Options
Normal Polarity 0
Inverted Polarity 1

0x2205:6 Number of channels

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
Options
2-channel (no index) 2
3-channel (with index) 3

0x2205:7 Access signal type

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
Options
Differential RS422 0
Single-ended TTL 1