3.1.9.1.67.6 All encoders
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
0x2110:5
BOOL
1
Normal polarity
0
Inverted polarity
1
readwrite
3.1.9.1.67.7 All encoders
Invert the direction of movement of the encoder. This is the equivalent of physically flipping the encoder, so
the commutation angle offset will not be valid after changing this parameter.
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
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Singleturn
offset
0x2110:6
UDINT 32
0
Inc
readwrite
3.1.9.1.67.8 Absolute encoders (BiSS/SSI/Nikon A-format/REM 16MT)
This value is substracted from the singleturn value received from the encoder. It is the equivalent of
physically moving the encoder, so the commutation angle offset will not be valid after changing this
parameter. This parameter has to be lower than the resolution of the encoder.
The singleturn offset is applied after the subindex 5 Polarity has been applied.
Name
Index:Sub Type
Bit
Size
Options
Unit
Access
PDO
Mapping
Access
signal type
0x2110:7
BOOL
1
Differential RS422
0
Single-ended TTL
1
readwrite
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit
Access
PDO
Mapping
Clock
frequency
0x2110:8
UINT
16
1000 16000
1000
kHz
readwrite
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