"Index offset" specification for encoder parameter (Index group 0x5000 + ID)

0x00000001

Read

every

UINT32

1

[1 ... 255]

Encoder ID

0x00000002

Read

every

UINT8[30+1]

1

30 characters

Encoder name

0x00000003

Read

every

UINT32

1

s. ENUM (>0)

Encoder type

0x00000004

Read/Write

every

UINT32

1

Byteoffset

Input address offset (I/O-Input-Image)

change I/O address

0x00000005

Read/Write

every

UINT32

1

Byteoffset

Output address offset (I/O-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).

0x00000007

Read/Write

every

REAL64

e.g. mm

[±1.0E+9]

Position offset

0x00000008

Read/Write

every

UINT16

1

[0,1]

Encoder count direction

0x00000009

Read/Write

every

REAL64

e.g. mm

[0.001 ... 1.0E+9]

modulo factor

0x0000000A

Read/Write

every

UINT32

1

s. ENUM (>0)

Encoder mode

s. appendix

0x0000000B

Read/Write

every

UINT16

1

0/1

soft end min. monitoring?

0x0000000C

Read/Write

every

UINT16

1

0/1

Soft end max. monitoring?

0x0000000D

Read/Write

every

REAL64

mm

Soft end position min.

0x0000000E

Read/Write

every

REAL64

mm

Soft end position max.

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)

0x00000011

Read/Write

every

REAL64

s

[0.0...60.0]

Filter time for actual velocity value in seconds (P-T1)

0x00000012

Read/Write

every

REAL64

s

[0.0...60.0]

filter time for actual acceleration value in seconds (P-T1)

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 thousandths 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 may be any numerical value (e.g. 3600000) and does not have to correspond to a continuous sequence of binary ones (2ⁿ-1).

Read-only parameter

see also "Encoder Sub Mask" parameter

0x00000016

Read/Write

every

UINT16

1

0/1

Actual position correction (measurement system error correction)?

0x00000017

Read/Write

every

REAL64

s

[0.0...60.0]

Filter time for actual position correction in seconds (P-T1)

0x00000018

Read/Write

every

UINT32

1

[0x0...

0xFFFFFFFF]

Filter mask for raw incremental value

(0x0: full passage)

0x00000019

Read/Write

every

UINT32

1

s. ENUM (≥0)

Encoder absolute dimensioning system

s. appendix

0x0000001A

Read/Write

every

UINT32

1

s. ENUM (≥0)

Encoder position initialization

Not implemented!

0x0000001B

Read/Write

every

REAL64

e.g. mm

[≥0, modulo factor/2]

Tolerance window for modulo-start

0x0000001C

Read

every

UINT32

1

s. ENUM (≥0)

Encoder sign interpretation (data type)

0x0000001D

Read

every

UINT16

1

0/1

Incremental or absolute encoder ?

0: Incremental encoder type

1: Absolute encoder type

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)

0x00000021

Read/Write

every

UINT32

1

Control double word (32 bits) for the encoder dead time compensation:

Bit 0 = 0: relative I/O times (default)

Bit 0 = 1: absolute I/O times

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)

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
TC 3.0

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
TC 3.0

0x00000025

Read/Write

every

{
REAL64
REAL64
} 16 bytes

e.g. mm/INC
1

[1.0E-12 ... 1.0E+30]
[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
TC 3.0

0x00000030

Read/Write

every

UINT32

1

Internal encoder control double word for specifying the operation modes and properties

From 211R3 B2227

0x00000101

Read/Write

INC

UINT16

1

[0,1]

inverse search direction for ref.cam?

0x00000102

Read/Write

INC

1

[0,1]

inverse search direction for sync pulse?

0x00000103

Read/Write

INC

REAL64

e.g. mm

[±1.0E+9]

Reference position

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 gap between Ref. cams and sync pulse in increments

Not implemented!

0x00000106

Read/Write

INC

UINT16

1

[0,1]

external sync pulse?

0x00000107

Read/Write

INC

UINT32

1

s. ENUM (>0)

Reference mode

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.

see also "Encoder Mask"

0x00000110

Read/Write

INC (encoder simulation)

REAL64

1

[0.0 ... 1000000.0]

scaling/weight of the noise part for the simulation encoder