0x220E SinCos module¶
Configuration parameters for SinCos Module.
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||||||||||||||||||
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Type | 0x220E:1 | USINT | 8 |
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readonly (default) | ||||||||||||||||||||||||||||||||||||
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||||||||||||||||||
Function | 0x220E: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 | 0x220E:3 | UDINT | 32 | 1 | 1 | Inc/Revolution | readonly (default) | ||||||||||||||||||||||||||||||||||
Number of pulses in one revolution. This value is automatically calculated using the value of "Sinewave cycles per revolution" and "Sinewave resolution" as: Resolution = Sinewave cycles per revolution * Sinewave resolution |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||||||||||||||||||
Zero velocity threshold | 0x220E: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. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||||||||||||||||||
Polarity | 0x220E: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 | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||||||||||||||||||
Sinewave cycles per revolution | 0x220E:6 | UINT | 16 | 1 | 1 | readwrite | |||||||||||||||||||||||||||||||||||
Number of sinewaves cycles in one motor revolution. This value is going to be used to calculate the singleturn resolution (Resolution). |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||||||||||||||||||
Sinewave resolution | 0x220E:7 | USINT | 8 |
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Inc | readwrite | |||||||||||||||||||||||||||||||||||
Select desired number of pulses in one sinewave. This value is going to be used to calculate the singleturn resolution (Resolution). |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||||||||||||||||||
Sinusoidal output voltage | 0x220E:8 | USINT | 8 |
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readwrite | ||||||||||||||||||||||||||||||||||||
Differential voltage in the Sin/Cos outputs peak to peak. It is often abreviated as Vpp. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||||||||||||||||||
Index availability | 0x220E:9 | BOOL | 1 |
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readwrite | ||||||||||||||||||||||||||||||||||||
Define if the connected encoder has an index or not. The index is often called "reference". |
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