0x2207 Hall sensor 1¶
Configuration parameter for first HALL sensor.
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
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Type | 0x2207:1 | USINT | 8 |
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readonly (default) | ||||||||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Function | 0x2207:2 | 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 | 0x2207:3 | UDINT | 32 | 0 | Inc/Revolution | readonly (default) | |||||||||||||||||||
Number of pulses in one revolution. For Hall sensors the pulses are extrapolated from the hall states, so that one electrical revolution has 4096 pulses. This value is automatically calculated using: Resolution = 4096 * motor pole pairs. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Zero velocity threshold | 0x2207:4 | UDINT | 32 | 0 | 1000000 | 5000 | μs | readwrite | |||||||||||||||||
Time threshold to set the velocity to 0 if no new position was received from the encoder. This variable is currently not used for hall sensor. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Polarity | 0x2207:5 | 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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