0x2206 Incremental Encoder 2¶
Configuration parameter for second incremental encoder
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
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Type | 0x2206:1 | USINT | 8 |
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readwrite | ||||||||||||||||||||
For internal purposes only! |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Function | 0x2206:2 | USINT | 8 |
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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. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Resolution | 0x2206:3 | UDINT | 32 | 1 | 1 | Inc/Revolution | readwrite | ||||||||||||||||||
Total number of quadrature counts. Resolution = Lines per Revolution * 4 Note: Pulses = Lines = Cycles Positions = Counts = Increments = 4 * Pulses |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Zero velocity threshold | 0x2206:4 | UDINT | 32 | 0 | 5000 | μs | readwrite | ||||||||||||||||||
Time threshold to set the velocity to 0 if no new position was received from the encoder. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Polarity | 0x2206:5 | USINT | 8 |
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readwrite | ||||||||||||||||||||
Altering the default values is recommended for expert users only! |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Number of channels | 0x2206:6 | USINT | 8 |
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readwrite | ||||||||||||||||||||
Can be set as two-channels (without index) or three-channels (with index). |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Access signal type | 0x2206:7 | USINT | 8 |
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readwrite | ||||||||||||||||||||
Differential (RS422) or Single-ended (TTL). |
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