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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readonly (default) | ||||||||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Function | 0x220A: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. |
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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. Most of the SSI encoders have a binary resolution, which means: Resolution = 2^(number of singleturn bits) |
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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 | 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 | 0x220A:5 | BOOL | 1 |
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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 | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Clock frequency | 0x220A: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. |
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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 | |||||||||||||||||||
Total amount of bits transmitted by the encoder in one frame. |
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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 encoder. |
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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. For most of the SSI encoders, this value is equal to: Multiturn bits + Multiturn first bit position. |
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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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readwrite | ||||||||||||||||||||
Type of parity read from the encoder. 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). If your encoder supports this function, it's normally used to be able to increase the maximum allowable clock frequency. |
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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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readwrite | ||||||||||||||||||||
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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readwrite | ||||||||||||||||||||
Order of the bits (Most Significant Bit or Least Significant Bit transmitted first). Usually MSB is transmitted first. |
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