0x2206 Incremental encoder 2

Configuration parameter for second incremental encoder

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Type	0x2206:1	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	0x2206:2	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.  Note that commutation can also be performed 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. Click here for details
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Resolution	0x2206:3	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
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Zero velocity threshold	0x2206:4	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	0x2206:5	USINT	8	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	Options			Unit	Access	PDO Mapping
Number of channels	0x2206:6	USINT	8	2-channel (no index) 2 3-channel (with index) 3				readwrite
Can be set as two-channels (without index) or three-channels (with index).
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Access signal type	0x2206:7	USINT	8	Differential RS422 0 Single-ended TTL 1				readwrite
Differential (RS422) or Single-ended (TTL).