0x220B A Format encoder

Configuration parameters for A-Format encoder.

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Type	0x220B: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	0x220B: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	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".
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	0	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	0x220B: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
Transmission speed	0x220B:6	USINT	8	2.5 Mbps 0 4 Mbps 1 6.67 Mbps 2 8 Mbps 3 16 Mbps 4				readwrite
See encoder datasheet for more information.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Singleturn resolution	0x220B:7	USINT	8	17 bits 0 20 bits 1 22 bits 2 24 bits 3				readwrite
See encoder datasheet for more information.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Absolute encoder type	0x220B:8	BOOL	1	ST-ABS 0 MT-ABS 1				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.