0x220C Fast ABI module¶
Configuration parameters for Fast ABI Module.
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
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Type | 0x220C:1 | USINT | 8 |
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readonly (default) | ||||||||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Function | 0x220C: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 | 0x220C: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 | 0x220C:4 | UDINT | 32 | 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 | 0x220C: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 | ||||||||||||||||||
Signal type | 0x220C:6 | BOOL | 1 |
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readwrite | ||||||||||||||||||||
The input for the incremental signals ABZ is configurable as single-ended TTL and differential (RS-422). |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Index availability | 0x220C:7 | BOOL | 1 |
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readwrite | ||||||||||||||||||||
Define if the connected encoder has an index (ABI) or not (AB). |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Index-A configuration | 0x220C:8 | BOOL | 1 |
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readwrite | ||||||||||||||||||||
Specifiy what is the value of the A line when the index is active. This value needs to be configured according to the connected ABI sensor for the adapter to work properly. This parameter is not relevant if the encoder connected doesn't have an index. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Index-B configuration | 0x220C:9 | BOOL | 1 |
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readwrite | ||||||||||||||||||||
Specifiy what is the value of the B line when the index is active. This value needs to be configured according to the connected ABI sensor for the adapter to work properly. This parameter is not relevant if the encoder connected doesn't have an index. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Index inverted | 0x220C:10 | BOOL | 1 |
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readwrite | ||||||||||||||||||||
The index (Z) signal can be inverted (Z=0 active) using this parameter. This parameter is not relevant if the encoder connected doesn't have an index. |
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