0x2205 Incremental encoder 1¶
Configuration parameter for first incremental encoder
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
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Type | 0x2205:1 | USINT | 8 |
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readonly (default) | ||||||||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Function | 0x2205:2 | 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. Note that commutation can also be performd with ABI and Hall sensors combined. This exploits the benefits of both principles: the high resolution angle from the ABI encoder and the absolute electrical position provided by the Hall sensor. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Resolution | 0x2205:3 | UDINT | 32 | 1 | 1 | Inc/Revolution | readwrite | ||||||||||||||||||
Total number of quadrature edges per revolution. Resolution = Cycles per Revolution * 4
Note: Cycles = Pulses = Lines Positions = Counts = Increments = 4 * Cycles |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Zero velocity threshold | 0x2205:4 | UDINT | 32 | 0 | 1000000 | 5000 | μs | readwrite | |||||||||||||||||
Time threshold to set the velocity to 0 if no new position was received from the encoder. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Polarity | 0x2205:5 | USINT | 8 |
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readwrite | ||||||||||||||||||||
If you have an axis with two encoders (one for commutation and one for position and velocity), the direction of each encoder must match for control stability. This polarity parameter can be used for flipping the direction of the position or velocity encoder relative to the sensor used for commutation. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Number of channels | 0x2205:6 | 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 | 0x2205:7 | USINT | 8 |
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readwrite | ||||||||||||||||||||
Differential (RS422) or Single-ended (TTL). |
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