0x2203 REM 16MT encoder

Configuration parameter for REM 16MT encoder

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Type	0x2203:1	USINT	8	HALL 1 Incremental 2 A-Format 3 BISS 4 REM 16MT 6 SSI 7 iC-MD 8 iC-NQC 9				readonly (default)
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Function	0x2203:2	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	0x2203:3	UDINT	32			65536	Inc/Revolution	readonly (default)
The total number of increments (positions) per revolution for the REM 16MT encoder is 65536. This parameter is pre-configured.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Zero velocity threshold	0x2203:4	UDINT	32	0	1000000	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	0x2203:5	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
Filter	0x2203:6	USINT	8	Disabled 0 Filter strength 2 (weakest) 2 Filter strength 3 3 Filter strength 4 4 Filter strength 5 5 Filter strength 6 6 Filter strength 7 7 Filter strength 8 8 Filter strength 9 (strongest) 9				readwrite
The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs).