0x220B A Format encoder¶
Configuration parameters for A-Format encoder.
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
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Type | 0x220B:1 | USINT | 8 |
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readonly (default) | ||||||||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Function | 0x220B: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 | 0x220B:3 | UDINT | 32 | 0 | Inc/Revolution | readonly (default) | |||||||||||||||||||
Number of pulses in one revolution. This value is automatically calculated using the value of "Singleturn resolution". |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Zero velocity threshold | 0x220B: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 | 0x220B: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 | ||||||||||||||||||
Transmission speed | 0x220B:6 | USINT | 8 |
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readwrite | ||||||||||||||||||||
See encoder datasheet for more information. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Singleturn resolution | 0x220B:7 | USINT | 8 |
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readwrite | ||||||||||||||||||||
See encoder datasheet for more information. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Absolute encoder type | 0x220B:8 | BOOL | 1 |
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readwrite | ||||||||||||||||||||
Select if the encoder has only singleturn data (ST-ABS) or both multiturn and singleturn data (MT-ABS). See encoder datasheet for more information. |
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