0x220C Fast ABI module

Configuration parameters for Fast ABI Module.

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Type	0x220C: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	0x220C: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	0x220C:3	UDINT	32	1		1	Inc/Revolution	readwrite
Total number of quadrature edges per revolution. Resolution = Cycles per Revolution * 4   Note: Cycles = Pulses = Lines Positions = Counts = Increments = 4 * Cycles
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Zero velocity threshold	0x220C:4	UDINT	32		1000000	0	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	0x220C: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.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Signal type	0x220C:6	BOOL	1	Differential RS422 0 Single-ended TTL 1				readwrite
The input for the incremental signals ABZ is configurable as single-ended TTL and differential (RS-422).
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Index availability	0x220C:7	BOOL	1	AB encoder (without index) 0 ABI encoder (with index) 1				readwrite
Define if the connected encoder has an index (ABI) or not (AB).
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Index-A configuration	0x220C:8	BOOL	1	Z active when A=1 0 Z active when A=0 1				readwrite
Specifiy what is the value of the A line when the index is active. This value needs to be configured according to the connected ABI sensor for the adapter to work properly. This parameter is not relevant if the encoder connected doesn't have an index.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Index-B configuration	0x220C:9	BOOL	1	Z active when B=1 0 Z active when B=0 1				readwrite
Specifiy what is the value of the B line when the index is active. This value needs to be configured according to the connected ABI sensor for the adapter to work properly. This parameter is not relevant if the encoder connected doesn't have an index.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Index inverted	0x220C:10	BOOL	1	Non inverted 0 Inverted 1				readwrite
The index (Z) signal can be inverted (Z=0 active) using this parameter. This parameter is not relevant if the encoder connected doesn't have an index.