PD4-E-M EtherCAT Online Manual

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.
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