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
0x2205:4 UDINT 32 0 1000000 5000 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 0x2205:5 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
Number of
channels
0x2205:6 USINT 8
2-channel (no index) 2
3-channel (with
index)
3
readwrite
Can be set as two-channels (without index) or three-channels (with index)
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Access
signal type
0x2205:7 USINT 8
Differential RS422 0
Single-ended TTL 1
readwrite
Differential (RS422) or Single-ended (TTL).
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