Function 0x2201:2 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, 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 0x2201:3 UDINT 32 1 1 Inc/Revolution readwrite
Number of pulses in one revolution.
Most of the BiSS encoders have a binary resolution, which means:
Resolution = 2^(number of singleturn bits).
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Zero
velocity
threshold
0x2201:4 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 0x2201:5 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.
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