0x220E SinCos module

Configuration parameters for SinCos Module.

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Type	0x220E: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	0x220E: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	0x220E:3	UDINT	32	1		1	Inc/Revolution	readonly (default)
Number of pulses in one revolution. This value is automatically calculated using the value of "Sinewave cycles per revolution" and "Sinewave resolution" as: Resolution = Sinewave cycles per revolution * Sinewave resolution
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Zero velocity threshold	0x220E:4	UDINT	32	0	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	0x220E: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	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Sinewave cycles per revolution	0x220E:6	UINT	16	1		1		readwrite
Number of sinewaves cycles in one motor revolution. This value is going to be used to calculate the singleturn resolution (Resolution).
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Sinewave resolution	0x220E:7	USINT	8	8 13 16 12 32 11 64 10 128 9 256 8 512 7 1024 6 2048 5 4096 4 8192 3			Inc	readwrite
Select desired number of pulses in one sinewave. This value is going to be used to calculate the singleturn resolution (Resolution).
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Sinusoidal output voltage	0x220E:8	USINT	8	up to 50 mVpp 15 up to 60 mVpp 14 up to 75 mVpp 13 up to 0.1 Vpp 12 up to 0.12 Vpp 11 up to 0.14 Vpp 10 up to 0.15 Vpp 9 up to 0.2 Vpp 8 up to 0.28 Vpp 7 up to 0.4 Vpp 6 up to 0.5 Vpp 5 up to 0.6 Vpp 4 up to 0.75 Vpp 3 up to 1 Vpp 2 up to 1.2 Vpp 1 up to 1.5 Vpp 0				readwrite
Differential voltage in the Sin/Cos outputs peak to peak. It is often abreviated as Vpp.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Index availability	0x220E:9	BOOL	1	Encoder without index 0 Encoder with index 1				readwrite
Define if the connected encoder has an index or not. The index is often called "reference".