Number of pulses in one revolution.
For Hall sensors the pulses are extrapolated from the hall states, so that one electrical revolution has 4096
pulses.
This value is automatically calculated using: Resolution = 4096 * motor pole pairs.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Zero
velocity
threshold
0x2208:4 UDINT 32 0 1000000 5000 μs readwrite
Time threshold to set the velocity to 0 if no new position was received from the encoder.
This variable is currently not used for hall sensor.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Polarity 0x2208:5 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.
To Next Page
Loading...
Need help?
General
