PD4-E-M EtherCAT Online Manual

33B4h SSI Encoder Multi Turn

Function

Contains configuration values for the multi-turn absolute encoder. The values are determined by the Auto setup.

Object description


Index 33B4h
Object name SSI Encoder Multi Turn
Object Code RECORD
Data type SSI WACHENDORFF
Savable yes, category: tuning
Access read only
PDO mapping no
Allowed values  
Preset value  
Firmware version FIR-v1748-B531667
Change history  

Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values  
Preset value 06h


Subindex 01h
Name Configuration
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values  
Preset value 0000h


Subindex 02h
Name Baud Rate
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values  
Preset value 0A28h


Subindex 03h
Name Single Turn Resolution
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values  
Preset value 000Ch


Subindex 04h
Name Multi Turn Resolution
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values  
Preset value 0012h


Subindex 05h
Name Alignment
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values  
Preset value 0000h


Subindex 06h
Name Encoder Home Raw Value
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values  
Preset value 00000000h

Description

The subindices have the following function:

  • 01h (Configuration): Not currently used.
  • 02h (Baud Rate): Baud rate of the SSI interface of the encoder.
  • 03h (Single Turn Resolution): Resolution of the encoder within one revolution in bits.
  • 04h (Multi Turn Resolution): The resolution is 18 bit, which corresponds to a number of revolutions: +/-2 17. Der Encoder kann Positionen
  • 05h (Alignment): This value specifies the offset between the zero position of the encoder and the electric field.

    The exact determination is only possible via auto setup. The presence of this value is necessary for closed loop mode with encoder.

  • 06h (Encoder Home Raw Value): The absolute encoder position is recorded in this subindex after a homing operation has been concluded. The object is savable ( Tuning category).
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