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 BISS 4 REM 14 5 REM 16MT 6 SSI 7				readwrite
For internal purposes only!
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.
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 counts. Resolution = Lines per Revolution * 4 Note: Pulses = Lines = Cycles Positions = Counts = Increments = 4 * Pulses
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Zero velocity threshold	0x2206:4	UDINT	32	0		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
Altering the default values is recommended for expert users only!
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).