"Index offset" specification for encoder parameter (Index group 0x5000 + ID)
Index offset (Hex) | Access | Group type | Data type | Phys. unit | Definition range | Description | Remarks |
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0x00000001 | Read | every | UINT32 | 1 | [1 ... 255] | Encoder ID |
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0x00000002 | Read | every | UINT8[30+1] | 1 | 30 characters | Encoder name |
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0x00000003 | Read | every | UINT32 | 1 | s. ENUM (>0) |
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0x00000004 | Read / Write | every | UINT32 | 1 | Byte offset | Input address offset (IO-Input-Image) | Change I/O address |
0x00000005 | Read / Write | every | UINT32 | 1 | Byte offset | Output address offset (IO-Output-Image) | Change I/O address |
0x00000006 | Read / Write | every | REAL64 | e.g. mm/INC | [1.0E-12 ... 1.0E+30] | Resulting scaling factor (numerator / denominator) Note: from TC 3.0 the scaling factor consists of two components – numerator and denominator (default: 1.0). |
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0x00000007 | Read / Write | every | REAL64 | e.g. mm | [±1.0E+9] | Position offset |
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0x00000008 | Read / Write | every | UINT16 | 1 | [0,1] | Encoder count direction |
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0x00000009 | Read / Write | every | REAL64 | e.g. mm | [0.001 ... 1.0E+9] | Modulo factor |
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0x0000000A | Read / Write | every | UINT32 | 1 | s. ENUM (>0) | s. appendix | |
0x0000000B | Read / Write | every | UINT16 | 1 | 0/1 | Soft end min. monitoring? |
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0x0000000C | Read / Write | every | UINT16 | 1 | 0/1 | Soft end max. monitoring? |
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0x0000000D | Read / Write | every | REAL64 | mm |
| Soft end position min. |
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0x0000000E | Read / Write | every | REAL64 | mm |
| Soft end position max. |
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0x0000000F | Read / Write | every | UINT32 | 1 | s. ENUM (≥0) | Encoder evaluation direction (enable for log. counting direction) | s. appendix |
0x00000010 | Read / Write | every | REAL64 | s | [0.0...60.0] | Filter time for actual position value in seconds (P-T1) |
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0x00000011 | Read / Write | every | REAL64 | s | [0.0...60.0] | Filter time for actual velocity value in seconds (P-T1) |
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0x00000012 | Read / Write | every | REAL64 | s | [0.0...60.0] | Filter time for actual acceleration value in seconds (P-T1) |
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0x00000013 | Read / Write | every | UINT8[10+1] | 1 |
| Physical unit | Not implemented ! |
0x00000014 | Read/Write | every | UINT32 | 1 |
| Interpretation of the units (position, velocity, time) Bit 0: velocity in x/min instead of x/s Bit 1: position in thousands of the base unit | Not implemented! bit array |
0x00000015 | Read | every | UINT32 | INC | [0x0... 0xFFFFFFFF] | Encoder mask (maximum value of the encoder actual value in increments) Note: From TwinCAT 2.11 R2 the encoder mask can be any numerical value (e.g. 3600000) and no longer needs to be a continuous sequence of binary ones (2n-1). | Read-only parameter s. parameter "Encoder Sub Mask" |
0x00000016 | Read/Write | every | UINT16 | 1 | 0/1 | Actual position correction (measurement system error correction)? |
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0x00000017 | Read/Write | every | REAL64 | s | [0.0...60.0] | Filter time for actual position correction in seconds (P-T1) |
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0x00000018 | Read/Write | every | UINT32 | 1 | [0x0... 0xFFFFFFFF] | Filter mask for raw incremental value (0x0: full passage) |
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0x00000019 | Read/Write | every | UINT32 | 1 | s. ENUM (≥0) | s. appendix | |
0x0000001A | Read/Write | every | UINT32 | 1 | s. ENUM (≥0) | Not implemented! | |
0x0000001B | Read/Write | every | REAL64 | e.g. mm | [≥0, modulo factor/2] | Tolerance window for modulo-start |
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0x0000001C | Read | every | UINT32 | 1 | s. ENUM (≥0) |
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0x0000001D | Read | every | UINT16 | 1 | 0/1 | Incremental or absolute encoder? 0: incremental encoder type 1: absolute encoder type |
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0x00000020 | Read/Write | every | UINT32 | 1 | s. ENUM (≥0) | Encoder dead time compensation mode 0: Off (default) 1: On (with velocity) 2: On (with velocity and acceleration) |
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0x00000021 | Read/Write | every | UINT32 | 1 |
| Control double word (32 bits) for the encoder dead time compensation: Bit 0 = 0: relative IO times (default) Bit 0 = 1: absolute IO times |
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0x00000022 | Read/Write | every | INT32 | ns | [±1.0E+9] | Sum of the parameterized time shifts for the encoder dead time compensation (typically positive numerical values) |
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0x00000023 | Read/Write | every | REAL64 | e.g. mm/INC | [1.0E-12 ... 1.0E+30] | Component of the scaling factor: numerator (=> scaling factor numerator / scaling factor denominator) | From |
0x00000024 | Read/Write | every | REAL64 | 1 | [1.0E-12 ... 1.0E+30] | Component of the scaling factor: denominator (=> scaling factor numerator / scaling factor denominator) Default: 1.0 | From |
0x00000025 | Read/Write | every | { | e.g. mm/INC | [1.0E-12 ... 1.0E+30] | Component of the scaling factor: numerator Component of the scaling factor: denominator (=> scaling factor numerator / scaling factor denominator) | From |
0x00000030 | Read/Write | every | UINT32 | 1 |
| Internal encoder control double word for specifying the operating modes and properties | From 211R3 B2227 |
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0x00000101 | Read/Write | INC | UINT16 | 1 | [0,1] | Inverse search direction for ref.cam? |
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0x00000102 | Read/Write | INC |
| 1 | [0,1] | Inverse search direction for sync pulse? |
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0x00000103 | Read/Write | INC | REAL64 | e.g. mm | [±1.0E+9] | Reference position |
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0x00000104 | Read/Write | INC | UINT16 | 1 | [0,1] | Distance monitoring between Ref. cams and sync pulse active? | Not implemented! |
0x00000105 | Read/Write | INC | UINT32 | INC | [0 ...65536] | Minimum distance between Ref. cams and sync pulse in increments | Not implemented! |
0x00000106 | Read/Write | INC | UINT16 | 1 | [0,1] | External sync pulse? |
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0x00000107 | Read/Write | INC | UINT32 | 1 | s. ENUM (>0) | s. appendix | |
0x00000108 | Read/Write | INC | UINT32 | 1 | [0x0000000F... 0xFFFFFFFF] Binary mask: (2n - 1) | Encoder sub mask (maximum value of the absolute range of the encoder actual value in increments) Used, for example, as a reference mark for the referencing mode "Software Sync" and for the NC Retain Data "ABSOLUTE (MODULO)", "INCREMENTAL (SINGLETURN ABSOLUTE)". Note 1: The Encoder Sub Mask must be smaller than or equal to the Encoder Mask. Note 2: The Encoder Mask must be an integer multiple of the Encoder Sub Mask. Note 3: The Encoder Sub Mask must be a continuous sequence of binary ones (2n-1), e.g. 0x000FFFFF. | s. parameter "Encoder Mask" |
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0x00000110 | Read/Write | INC (encoder simulation) | REAL64 | 1 | [0.0 ... 1000000.0] | Scaling/weight of the noise part for the simulation encoder |
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