0x2206 Incremental Encoder 2

Configuration parameter for second incremental encoder

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x2206:1 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 0x2206:2 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 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

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.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Polarity 0x2206:5 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 Options Unit Access PDO Mapping
Number of channels 0x2206:6 USINT 8
2-channel (no index) 2
3-channel (with index) 3
readwrite

Can be set as two-channels (without index) or three-channels (with index).

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Access signal type 0x2206:7 USINT 8
Differential RS422 0
Single-ended TTL 1
readwrite

Differential (RS422) or Single-ended (TTL).