0x220A SSI Encoder 2

Configuration parameters for second SSI encoder.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x220A: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 0x220A: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 0x220A:3 UDINT 32 1 1 Inc/Revolution readwrite

Number of pulses in one revolution.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x220A: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 0x220A:5 BOOL 1
Normal Polarity 0
Inverted Polarity 1
readwrite

Direction of the encoder position in respect to the motor.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Clock frequency 0x220A:6 UINT 16 1 1250 kHz readwrite

Frequency for the SSI clock line.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Frame size 0x220A:7 USINT 8 1 1 readwrite

Size of the SSI frame in bits.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Singleturn bits 0x220A:8 USINT 8 1 1 readwrite

Number of singleturn bits to read from the sensor.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Singleturn first bit position 0x220A:9 USINT 8 0 readwrite

Position of the first bit of singleturn position on the SSI frame. Position 0 of the frame corresponds to the first bit transmitted.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Multiturn bits 0x220A:10 USINT 8 0 readwrite

Number of multiturn bits to read from the sensor.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Multiturn first bit position 0x220A:11 USINT 8 0 readwrite

Position of the first bit of multiturn position on the SSI frame. Position 0 of the frame corresponds to the first bit transmitted.

Usually this value is 0, since multiturn is the first element on the frame.

Only relevant if Multiturn bits is bigger than 0.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Parity type 0x220A:12 USINT 8
No parity 0
Odd parity 1
Even parity 2
readwrite

Type of parity read from the sensor. If there is parity, it should be the last bit on the SSI frame.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
First clock delay 0x220A:13 UINT 16 0 μs readwrite

Delay after first clock edge. This is compatible only with some encoders (will be specified in the encoder datasheet).

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Data ordering 0x220A:14 BOOL 1
Natural Binary Code 0
Reflected Binary Code 1
readwrite

Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code).

 

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Endianness 0x220A:15 BOOL 1
MSB first 0
LSB first 1
readwrite

Order of the bits (Most Significant Bit or Least Significant Bit transmitted first).

Usually MSB is transmitted first.