0x2112 Encoder 2 configuration

All configuration options for Encoder 2

Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Sensor port	0x2112:1	USINT	8	No sensor port 0 Sensor port 1 1 Sensor port 2 2 Sensor port 3 3 Sensor port 4 4 Sensor port 5 5				readwrite
All encoders The sensor port on which this encoder is connected.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Type	0x2112:2	USINT	8	None 0 Hall sensor 1 Incremental encoder 2 Nikon A-format encoder 3 BiSS 4 REM 16MT 6 SSI 7 SinCos module 9				readwrite
All encoders Select the type of encoder you want to use.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Resolution	0x2112:3	UDINT	32	1		1	Inc/Revolution	readwrite
BiSS/SSI Number of pulses in one revolution. Most of BiSS/SSI encoders have a binary resolution, which means: Resolution = 2^(subindex 12 Singleturn bits). Incremental encoder Total number of quadrature edges per revolution. Resolution = Cycles per Revolution * 4 Hall sensor/Nikon A-Format/REM16MT/SinCos module For these encoders this parameter is configured automatically.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Zero velocity threshold	0x2112:4	UDINT	32	0	1000000	0	μs	readwrite
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	0x2112:5	BOOL	1	Normal polarity 0 Inverted polarity 1				readwrite
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	0x2112:6	UDINT	32			0	Inc	readwrite
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	0x2112:7	BOOL	1	Differential RS422 0 Single-ended TTL 1				readwrite
Incremental encoder Select if the encoder signal is differential (RS422) or single-ended (TTL).
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Clock frequency	0x2112:8	UINT	16	1000	16000	1000	kHz	readwrite
BiSS/SSI Frequency of the SSI clock line or BiSS MA line. Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter. The drive can only clock at some discrete frequencies. If the user enters a frequency that is not within these discrete frequencies, it will be set to the next possible lower frequency. To calculate what's the real frequency that will be used, you can round up the result of 25000 / Clock frequency. Then divide 25000 by the rounded value obtained before. For example, when setting 4000 KHz the real frequency will be 3571.43 kHz. The maximum value that can be set is 5000 kHz. Nikon A-format Select the transmission speed of the encoder. The only possible values are 2500, 4000, 6670, 8000 and 16000 kbps. See encoder datasheet for more information.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Frame size	0x2112:9	USINT	8	1		1		readwrite
BiSS The BiSS service expects an encoder that has the following frame structure: - SLO line high when encoder is ready to start communicating. - Ack bit (which can be extended to multiple bits by the encoder). - Start bit when the encoder is ready to transmit the data. - CDS bit for register communication. - Payload (any data can be sent here, but the only data that can be processed is Multiturn and singleturn position). - Error and warning bits, in this order. - Variable length CRC. - Timeout. This parameter specifies the number of bits transmited as Payload. SSI This parameter specifies the number of bits transmited in one encoder frame.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Multiturn bits	0x2112:10	USINT	8			0		readwrite
BiSS/SSI/Nikon A-format Number of multiturn bits to read from the encoder.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Multiturn first bit position	0x2112:11	USINT	8			0		readwrite
BiSS/SSI Position of the first bit of multiturn position on the frame. Position 0 of the frame corresponds to the first bit transmitted within the frame size specified in subindex 9 Frame size. Usually this value is 0, since multiturn is the first element on the frame. Only relevant if subindex 10 Multiturn bits is bigger than 0.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Singleturn bits	0x2112:12	USINT	8	1		1		readwrite
BiSS/SSI Number of singleturn bits to read from the encoder. Nikon A-format Number of singleturn bits to read from the encoder. The only possible values are 17, 20, 22 and 24.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Singleturn first bit position	0x2112:13	USINT	8			0		readwrite
BiSS/SSI Position of the first bit of singleturn position on the frame. Position 0 of the frame corresponds to the first bit transmitted within the frame size specified in subindex 9 Frame size. For most of the BiSS/SSI encoders, this value is equal to: subindex 10 Multiturn bits + subindex 11 Multiturn first bit position.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Timeout	0x2112:14	USINT	8			36	μs	readwrite
BiSS/SSI Timeout that will be sent by the drive at the end of each BiSS/SSI frame, which informs the encoder that the frame is over. Refer to your encoder datasheet to check what is the minimum value for this parameter.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
CRC polynomial	0x2112:15	USINT	8			67		readwrite
BiSS Polynomial for the CRC calculation of the sensor data (SCD). This value is obtained by writing the polynomial in binary representation. For example: x^6 + x^3 + x^1 + x^0 is 0b1001011 = 0x4B = 75. The default value of 67 (x^6 + x^1 + x^0 = 0b1000011 = 0x43) is the one used for most of the BiSS encoders.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Maximum tbusy	0x2112:16	USINT	8			20	μs	readwrite
BiSS This value defines the maximum time to wait for the Start bit once the Ack bit was already received. If the Start bit is not sent after this time, the error BisSrtBt is raised. Check your encoder datasheet to find what's the typical or maximum value for this parameter. It is advised to try to increase this number in case the error BisSrtBt appears, which is likely to happen because the encoder needed more time to process the data before sending the Start bit.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Status bits active value	0x2112:17	USINT	8	Status bits active low 0 Status bits active high 1				readwrite
BiSS Value of the status bits when active. The BiSS-C standard recommends that these bits are active low, so most encoders should work with the default value.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Parity type	0x2112:18	USINT	8	No parity 0 Odd parity 1 Even parity 2				readwrite
SSI Type of parity read from the encoder. If there is parity, it should be the last bit on the SSI frame.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
First clock delay	0x2112:19	UINT	16			0	μs	readwrite
SSI Delay after first clock edge. This is compatible only with some encoders (will be specified in the encoder datasheet). If your encoder supports this function, it's normally used to be able to increase the maximum allowable clock frequency.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Data ordering	0x2112:20	BOOL	1	Natural Binary Code 0 Reflected Binary Code 1				readwrite
SSI Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as Gray code).
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Endianness	0x2112:21	BOOL	1	MSB first 0 LSB first 1				readwrite
SSI Order of the bits (Most Significant Bit or Least Significant Bit transmitted first). Usually MSB is transmitted first.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Index availability	0x2112:22	BOOL	1	Encoder without index 0 Encoder with index 1				readwrite
Incremental encoder/SinCos module Define if the connected encoder has an index or not. For SinCos encoders the index is often called "reference". Incremental encoders without index are often called AB encoders, while incremental encoders with index are often called ABI encoders.
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Hall sensor port	0x2112:23	USINT	8	No sensor port 0 Sensor port 1 1 Sensor port 2 2 Sensor port 3 3 Sensor port 4 4 Sensor port 5 5				readwrite
Incremental encoder This parameter is used to define to which Sensor port the Hall sensor is connected in case of using it together with an incremental encoder in order to have an approximate absolute position while the incremental encoder index is not yet found.
Name	Index:Sub	Type	Bit Size	Min Data	Max Data	Default Data	Unit	Access	PDO Mapping
Sinewave cycles per revolution	0x2112:24	UINT	16	1		1		readwrite
SinCos module Number of sinewaves cycles in one motor revolution. This value is going to be used to calculate the singleturn resolution (subindex 3 Resolution).
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Sinewave resolution	0x2112:25	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
SinCos module Select desired number of pulses in one sinewave. This value is going to be used to calculate the singleturn resolution (sunindex 3 Resolution).
Name	Index:Sub	Type	Bit Size	Options			Unit	Access	PDO Mapping
Sinusoidal output voltage	0x2112:26	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
SinCos module 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
Filter	0x2112:27	USINT	8	Disabled 0 Filter strength 2 (weakest) 2 Filter strength 3 3 Filter strength 4 4 Filter strength 5 5 Filter strength 6 6 Filter strength 7 7 Filter strength 8 8 Filter strength 9 (strongest) 9				readwrite
REM 16MT The filter with strength F of the sensor. The estimated step response time of the filter is Ts*2^F (Ts is the sampling time, ca. 70µs).