Number of pulses in one revolution.
Most of the SSI 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
0x2209:4 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 0x2209:5 BOOL 1
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
Clock
frequency
0x2209:6 UINT 16 1000 5000 1000 kHz readwrite
Frequency for the SSI clock line.
Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.
The drive can only clock at some discrete frequencies. If the user enters a frequency that is not within these
discrete frequencies, it will be set to the next possible lower frequency.
To calculate what's the real frequency that will be used, you can round up the result of 25000 / Clock
frequency. Then divide 25000 by the rounded value obtained before.
For example, when setting 4000 KHz the real frequency will be 3571.43 kHz.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Frame size 0x2209:7 USINT 8 1 1 readwrite
Total amount of bits transmitted by the encoder in one frame.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Singleturn
bits
0x2209:8 USINT 8 1 1 readwrite
Number of singleturn bits to read from the encoder.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
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