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
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