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 SSI 7				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 Position 6 Commutation & Velocity 7				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. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function.
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
Zero velocity threshold	0x2204:4	UDINT	32	0		5000	μs	readwrite
Time threshold to set the velocity to 0 if no new position was received from the encoder.
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.