0x2204 REM 14 Encoder

Configuration parameter for REM 14 encoder

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x2204:1 USINT 8
HALL 1
Incremental 2
BISS 4
REM 14 5
REM 16MT 6
readwrite

For internal purposes only!

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Function 0x2204:2 USINT 8
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
readwrite

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.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Resolution 0x2204:3 UDINT 32 16384 Inc/Revolution readonly (default)

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

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Velocity calculation period 0x2204:4 UINT 16 66 1000 μs readwrite

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

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Polarity 0x2204:5 USINT 8
Normal Polarity 0
Inverted Polarity 1
readwrite

Altering the default values is recommended for expert users only!

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Hysteresis 0x2204:6 USINT 8 0 1 readwrite

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

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Noise settings 0x2204:7 USINT 8
normal (DEFAULT) 0
reduced 1
readwrite

Allows enabling reduced noise settings.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Dynamic angle error compensation 0x2204:8 USINT 8
disabled 0
enabled (DEFAULT) 1
readwrite

Enables (Default) or disables dynamic angle error compensation.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Resolution settings 0x2204:9 USINT 8
11-bit (2048 steps) 0
10-bit (1024 steps) 1
readwrite

Only affects the optional ABI interface.