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
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