0x2207 Hall sensor 1

Configuration parameter for first HALL sensor.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x2207:1 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 0x2207:2 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. 

Note that commutation can also be performd with ABI and Hall sensors combined. This exploits the benefits of both principles: the high resolution angle from the ABI encoder and the absolute electrical position provided by the Hall sensor.

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Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Resolution 0x2207:3 UDINT 32 0 Inc/Revolution readonly (default)

Number of pulses in one revolution.

For Hall sensors the pulses are extrapolated from the hall states, so that one electrical revolution has 4096 pulses.

This value is automatically calculated using: Resolution = 4096 * motor pole pairs.
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x2207:4 UDINT 32 0 1000000 5000 μs readwrite

Time threshold to set the velocity to 0 if no new position was received from the encoder.

This variable is currently not used for hall sensor.
Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Polarity 0x2207:5 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.