33B4h Feedback SSI
Function
Contains configuration values for the multi-turn absolute encoder.
Object description
| Index | 33B4h |
| Object name | Feedback SSI |
| 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 |
Firmware version FIR-v1926-B648637: "Object Name" entry changed from "SSI Encoder Multi Turn" to "Feedback SSI". Firmware version FIR-v1926-B648637: "Name" entry changed from "Encoder Home Raw Value" to "Home Position". Firmware version FIR-v1939-B682906: "Data type" entry changed from "UNSIGNED16" to "UNSIGNED32". |
Value description
| Subindex | 00h |
| Name | Number Of Entries |
| 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 | UNSIGNED32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 00280DE8h |
| 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 | Home Position |
| Data type | INTEGER32 |
| Access | read / write |
| PDO mapping | no |
| Allowed values | |
| Preset value | 00000000h |
Description
The subindices have the following function:
- 01h (Configuration):
- Bit 0: Value = "0": The encoder does not have an index. Value = "1": Encoder index exists and is to be 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.
-
05h (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.
- 06h (Home Position): The absolute encoder position is recorded in this subindex after a homing operation has been concluded.