33B0h Feedback SSI 1 Function Contains configuration values for the first SSI encoder. Object description Index 33B0h Object name Feedback SSI 1 Object Code RECORD Data type SSI ENCODER Savable yes, category: tuning Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1939-B682906 Change history Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Configuration Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Alignment Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Home Position Low Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Home Position High Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Number Of Bits For Transfer Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Baud Rate Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Position Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Position Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Status Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Status Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Status Value Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Status Value High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Latency [ns] Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Description The subindices have the following function: 01h (Configuration): Bit 0: Value = "0": Alignment has not yet been determined or is not to be used. Value = "1": Alignment exists and is to be used. 02h (Alignment): This value specifies the offset between the zero position of the encoder and the rotor's magnets. The exact determination is only possible via auto setup. The presence of this value is necessary for closed-loop mode with encoder. 03h (Home Position Low) and 04h (Home Position High): The absolute encoder position after a homing has been completed is entered in these subindices. 05h (Number Of Bits For Transfer): Number of bits in a message (encoder data). Maximum 64 bits. 06h (Baud Rate): Baud rate of the interface in hertz. The following frequencies are supported: 21 MHz, 10.5 MHz, 5.25 MHz, 2.625 MHz, 1.3125 MHz, 656.25 KHz, 328.125 KHz, 164.0625 KHz. If the values are different, the valid frequency with the smallest difference is selected. 07h (Position Bitmask Low) and 08h (Position Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the position data (see following instructions). 09h (Status Bitmask Low) and 0Ah (Status Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the status information (see following instructions). 0Bh (Status Value Low) and 0Ch (Status Value High): In these subindices, you enter a bitmask that determines which value the status information bits (subindices 09h and 0Ah) must have (see following instructions). A different value at this point of the encoder data is interpreted as an error by the controller. 0Dh (Latency): Latency of the encoder in nanoseconds, specified in the encoder data sheet. To set the configuration according to your encoder: Set the baud rate in subindex 06h and the number of bits in subindex 05h according to the encoder data sheet. Define which bits the position data should include and set subindices 07h and 08h to the corresponding value. Define which bits the status information (e. g., status, error, etc.) should include and set subindices 09h and 0Ah to the corresponding value. Define which value, "0" or "1", the status information bits must have and set the corresponding bits in subindices 09h and 0Ah to the value. Store the object by writing the value "65766173h" in 1010h:06h and restart the controller. Example The encoder sends the data in a 32-bit message. Bits 4…23 contain the position. The status information is divided into the following bits: Bits 0…2 are status bits that must always have the value "0" Bit 3 is the error bit that has the value "0" if an error has occurred Bit 31 signals the start of the message and always has the value "1" You must enter the following values in the subindices: 05h (Number Of Bits For Transfer): 20h 07h(Position Bitmask Low) 00FFFFF0h 09h (Status Bitmask Low): 8000 000Fh 0Bh (Status Value Low): 8000 000F8h Subindices 08h, 0Ah and 0Ch, which would contain the most-significant 32 bits of a 64-bit message, have the value "0".
33B0h Feedback SSI 1 Function Contains configuration values for the first SSI encoder. Object description Index 33B0h Object name Feedback SSI 1 Object Code RECORD Data type SSI ENCODER Savable yes, category: tuning Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1939-B682906 Change history Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Configuration Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Alignment Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Home Position Low Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Home Position High Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Number Of Bits For Transfer Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Baud Rate Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Position Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Position Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Status Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Status Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Status Value Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Status Value High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Latency [ns] Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Description The subindices have the following function: 01h (Configuration): Bit 0: Value = "0": Alignment has not yet been determined or is not to be used. Value = "1": Alignment exists and is to be used. 02h (Alignment): This value specifies the offset between the zero position of the encoder and the rotor's magnets. The exact determination is only possible via auto setup. The presence of this value is necessary for closed-loop mode with encoder. 03h (Home Position Low) and 04h (Home Position High): The absolute encoder position after a homing has been completed is entered in these subindices. 05h (Number Of Bits For Transfer): Number of bits in a message (encoder data). Maximum 64 bits. 06h (Baud Rate): Baud rate of the interface in hertz. The following frequencies are supported: 21 MHz, 10.5 MHz, 5.25 MHz, 2.625 MHz, 1.3125 MHz, 656.25 KHz, 328.125 KHz, 164.0625 KHz. If the values are different, the valid frequency with the smallest difference is selected. 07h (Position Bitmask Low) and 08h (Position Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the position data (see following instructions). 09h (Status Bitmask Low) and 0Ah (Status Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the status information (see following instructions). 0Bh (Status Value Low) and 0Ch (Status Value High): In these subindices, you enter a bitmask that determines which value the status information bits (subindices 09h and 0Ah) must have (see following instructions). A different value at this point of the encoder data is interpreted as an error by the controller. 0Dh (Latency): Latency of the encoder in nanoseconds, specified in the encoder data sheet. To set the configuration according to your encoder: Set the baud rate in subindex 06h and the number of bits in subindex 05h according to the encoder data sheet. Define which bits the position data should include and set subindices 07h and 08h to the corresponding value. Define which bits the status information (e. g., status, error, etc.) should include and set subindices 09h and 0Ah to the corresponding value. Define which value, "0" or "1", the status information bits must have and set the corresponding bits in subindices 09h and 0Ah to the value. Store the object by writing the value "65766173h" in 1010h:06h and restart the controller. Example The encoder sends the data in a 32-bit message. Bits 4…23 contain the position. The status information is divided into the following bits: Bits 0…2 are status bits that must always have the value "0" Bit 3 is the error bit that has the value "0" if an error has occurred Bit 31 signals the start of the message and always has the value "1" You must enter the following values in the subindices: 05h (Number Of Bits For Transfer): 20h 07h(Position Bitmask Low) 00FFFFF0h 09h (Status Bitmask Low): 8000 000Fh 0Bh (Status Value Low): 8000 000F8h Subindices 08h, 0Ah and 0Ch, which would contain the most-significant 32 bits of a 64-bit message, have the value "0".
Object description Index 33B0h Object name Feedback SSI 1 Object Code RECORD Data type SSI ENCODER Savable yes, category: tuning Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1939-B682906 Change history
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Configuration Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Alignment Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Home Position Low Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Home Position High Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Number Of Bits For Transfer Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Baud Rate Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Position Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Position Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Status Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Status Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Status Value Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Status Value High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Latency [ns] Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value
Description The subindices have the following function: 01h (Configuration): Bit 0: Value = "0": Alignment has not yet been determined or is not to be used. Value = "1": Alignment exists and is to be used. 02h (Alignment): This value specifies the offset between the zero position of the encoder and the rotor's magnets. The exact determination is only possible via auto setup. The presence of this value is necessary for closed-loop mode with encoder. 03h (Home Position Low) and 04h (Home Position High): The absolute encoder position after a homing has been completed is entered in these subindices. 05h (Number Of Bits For Transfer): Number of bits in a message (encoder data). Maximum 64 bits. 06h (Baud Rate): Baud rate of the interface in hertz. The following frequencies are supported: 21 MHz, 10.5 MHz, 5.25 MHz, 2.625 MHz, 1.3125 MHz, 656.25 KHz, 328.125 KHz, 164.0625 KHz. If the values are different, the valid frequency with the smallest difference is selected. 07h (Position Bitmask Low) and 08h (Position Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the position data (see following instructions). 09h (Status Bitmask Low) and 0Ah (Status Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the status information (see following instructions). 0Bh (Status Value Low) and 0Ch (Status Value High): In these subindices, you enter a bitmask that determines which value the status information bits (subindices 09h and 0Ah) must have (see following instructions). A different value at this point of the encoder data is interpreted as an error by the controller. 0Dh (Latency): Latency of the encoder in nanoseconds, specified in the encoder data sheet. To set the configuration according to your encoder: Set the baud rate in subindex 06h and the number of bits in subindex 05h according to the encoder data sheet. Define which bits the position data should include and set subindices 07h and 08h to the corresponding value. Define which bits the status information (e. g., status, error, etc.) should include and set subindices 09h and 0Ah to the corresponding value. Define which value, "0" or "1", the status information bits must have and set the corresponding bits in subindices 09h and 0Ah to the value. Store the object by writing the value "65766173h" in 1010h:06h and restart the controller. Example The encoder sends the data in a 32-bit message. Bits 4…23 contain the position. The status information is divided into the following bits: Bits 0…2 are status bits that must always have the value "0" Bit 3 is the error bit that has the value "0" if an error has occurred Bit 31 signals the start of the message and always has the value "1" You must enter the following values in the subindices: 05h (Number Of Bits For Transfer): 20h 07h(Position Bitmask Low) 00FFFFF0h 09h (Status Bitmask Low): 8000 000Fh 0Bh (Status Value Low): 8000 000F8h Subindices 08h, 0Ah and 0Ch, which would contain the most-significant 32 bits of a 64-bit message, have the value "0".
