Singleturn
first bit
position
0x2209:9 USINT 8 0 readwrite
Position of the first bit of singleturn position on the SSI frame. Position 0 of the frame corresponds to the
first bit transmitted.
For most of the SSI encoders, this value is equal to: Multiturn bits + Multiturn first bit position.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Multiturn
bits
0x2209:10 USINT 8 0 readwrite
Number of multiturn bits to read from the sensor.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Multiturn
first bit
position
0x2209:11 USINT 8 0 readwrite
Position of the first bit of multiturn position on the SSI frame. Position 0 of the frame corresponds to the
first bit transmitted.
Usually this value is 0, since multiturn is the first element on the frame.
Only relevant if Multiturn bits is bigger than 0.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Parity type 0x2209:12 USINT 8
No parity 0
Odd parity 1
Even parity 2
readwrite
Type of parity read from the encoder. If there is parity, it should be the last bit on the SSI frame.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
First clock
delay
0x2209:13 UINT 16 0 μs readwrite
Delay after first clock edge. This is compatible only with some encoders (will be specified in the encoder datasheet). If
your encoder supports this function, it's normally used to be able to increase the maximum allowable clock frequency.
Name Index:Sub Type Bit
Size
Options Unit Access PDO
Mapping
Data
ordering
0x2209:14 BOOL 1
Natural Binary Code 0
Reflected Binary
Code
1
readwrite
Select if the ordering of position is done using Natural Binary Code or Reflected Binary Code (also known as
Gray code).
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