3.1.9.1.69.2 All encoders
Select the type of encoder you want to use.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Resolution
0x2112:3
UDINT 32
1
1
Inc/Revolution readwrite
3.1.9.1.69.3 BiSS/SSI
Number of pulses in one revolution.
Most of BiSS/SSI encoders have a binary resolution, which means:
Resolution = 2^(subindex 12 Singleturn bits).
3.1.9.1.69.4 Incremental encoder
Total number of quadrature edges per revolution.
Resolution = Cycles per Revolution * 4
3.1.9.1.69.5 Hall sensor/Nikon A-Format/REM16MT/SinCos module
For these encoders this parameter is configured automatically.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Zero
velocity
threshold
0x2112:4
UDINT 32
0
1000000 0
μs
readwrite
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