0x220A SSI Encoder 2¶
Configuration parameters for second SSI encoder.
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||
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Type | 0x220A: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 | 0x220A:2 | USINT | 8 |
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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. |
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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. |
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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. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||
Polarity | 0x220A:5 | BOOL | 1 |
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Direction of the encoder position in respect to the motor. |
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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. |
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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. |
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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. |
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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. |
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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. |
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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. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||
Parity type | 0x220A:12 | USINT | 8 |
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Type of parity read from the sensor. If there is parity, it should be the last bit on the SSI frame. |
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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). |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||
Data ordering | 0x220A:14 | BOOL | 1 |
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Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code).
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||
Endianness | 0x220A:15 | BOOL | 1 |
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Order of the bits (Most Significant Bit or Least Significant Bit transmitted first). Usually MSB is transmitted first. |
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