0x2209 SSI encoder 1

Configuration parameters for first SSI encoder.

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Type	0x2209:1	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	0x2209:2	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	0x2209:3	UDINT	32	1		1	Inc/Revolution	readwrite
Number of pulses in one revolution. Most of the SSI encoders have a binary resolution, which means: Resolution = 2^(number of singleturn bits)
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Zero velocity threshold	0x2209:4	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	0x2209:5	BOOL	1	Normal Polarity 0 Inverted Polarity 1				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.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Clock frequency	0x2209:6	UINT	16	99	6000	1000	kHz	readwrite
Frequency for the SSI clock line. Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter. The drive can only clock at some discrete frequencies. If the user enters a frequency that is not within these discrete frequencies, it will be set to the next possible lower frequency. To calculate what's the real frequency that will be used, you can round up the result of 25000 / Clock frequency. Then divide 25000 by the rounded value obtained before. For example, when setting 4000 KHz the real frequency will be 3571.43 kHz.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Frame size	0x2209:7	USINT	8	1		1		readwrite
Total amount of bits transmitted by the encoder in one frame.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Singleturn bits	0x2209:8	USINT	8	1		1		readwrite
Number of singleturn bits to read from the encoder.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Singleturn first bit position	0x2209:9	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. For most of the SSI encoders, this value is equal to: Multiturn bits + Multiturn first bit position.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Multiturn bits	0x2209:10	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	0x2209:11	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	0x2209:12	USINT	8	No parity 0 Odd parity 1 Even parity 2				readwrite
Type of parity read from the encoder. 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	0x2209:13	UINT	16			0	μs	readwrite
Delay after first clock edge. This is compatible only with some encoders (will be specified in the encoder datasheet). If your encoder supports this function, it's normally used to be able to increase the maximum allowable clock frequency.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Data ordering	0x2209:14	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	0x2209:15	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.