Encoder Control
- 02 Jul 2024
- 2 Minutes to read
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Encoder Control
- Updated on 02 Jul 2024
- 2 Minutes to read
- Print
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Encoder Selector
Name | EncoderSelector | Standard |
Description | Selects which Encoder to configure. | |
Interface | Enumeration | |
Access mode | Read/Write | |
Adjustable while grabbing | Yes | |
Value range | See enum entries table below. | |
Default value | Encoder0 | |
Availability | ||
Notes | This feature is not available if MasterSlaveMode is configured as Slave. | |
Error behavior | See the device error code documentation. | |
Encoder Selector Enum Entries:
Name | Description |
Encoder0 | Selects Encoder0 |
Encoder Source A
Name | EncoderSourceA[EncoderSelector] | Standard |
Description | Selects the signal which will be the source of the input A of the encoder. | |
Interface | Enumeration | |
Access mode | Read/Write | |
Adjustable while grabbing | No | |
Value range | See enum entries table below. | |
Default value | Off | |
Availability | ||
Notes | This feature is not available if MasterSlaveMode is configured as Slave. | |
Error behavior | See the device error code documentation. | |
Encoder Source A Enum Entries:
Name | Description |
Off | Encoder does not forward any input |
Line1 | Encoder forward input is taken from the I/O Line1 |
Line3 | Encoder forward input is taken from the I/O Line3 |
Line4 | Encoder forward input is taken from the I/O Line4 |
Encoder Source B
Name | EncoderSourceB[EncoderSelector] | Standard |
Description | Selects the signal which will be the source of the input B of the encoder. | |
Interface | Enumeration | |
Access mode | Read/Write | |
Adjustable while grabbing | No | |
Value range | See enum entries table below. | |
Default value | Off | |
Availability | ||
Notes | This feature is not available if MasterSlaveMode is configured as Slave. | |
Error behavior | See the device error code documentation. | |
Encoder Source B Enum Entries:
Name | Description |
Off | Encoder does not forward any input |
Line2 | Encoder forward input is taken from the I/O Line2 |
Encoder Mode
Name | EncoderMode[EncoderSelector] | Standard |
Description | Selects whether the count of encoder uses FourPhase mode or the HighResolution mode. | |
Interface | Enumeration | |
Access mode | Read/Write | |
Adjustable while grabbing | No | |
Value range | See enum entries table below. | |
Default value | FourPhase | |
Availability | ||
Notes | A jitter filter is applied to the encoder sources for all encoder modes. To achieve higher jitter filtering use Encoder Average feature. The scan direction detection is based on Encoder Source B and independent of the encoder mode. This feature is not available if MasterSlaveMode is configured as Slave. | |
Error behavior | See the device error code documentation. | |
Encoder Mode Enum Entries:
Name | Description |
FourPhase | The counter increments or decrements 1 for every full quadrature cycle. |
HighResolution | The counter increments or decrements every quadrature phase for high resolution counting. |
Four Phase
High Resolution
Encoder Source A
Encoder Source B
Encoder Source A
Encoder Source B
Encoder Output Mode
Name | EncoderOutputMode[EncoderSelector] | Standard |
Description | Selects the conditions for the encoder interface to generate a valid encoder output signal. | |
Interface | Enumeration | |
Access mode | Read/Write | |
Adjustable while grabbing | Yes | |
Value range | See enum entries table below. | |
Default value | Motion | |
Availability | ||
Notes | This feature is not available if MasterSlaveMode is configured as Slave. | |
Error behavior | See the device error code documentation. | |
Encoder Output Mode Enum Entries:
Name | Description |
Motion | Output pulses are generated at all motion increments in both directions. |
PositionUp | Output pulses are generated at all new positions in the positive direction. If encoder reverses no output pulse are generated until it has again passed the position where the reversal started. |
PositionDown | Output pulses are generated at all new positions in the negative direction. If encoder reverses no output pulse are generated until it has again passed the position where the reversal started. |
Encoder Divider Float
Name | EncoderDividerFloat[EncoderSelector] | Custom |
Description | Specifies the number of encoder steps needed to generate an encoder output pulse | |
Interface | Float | |
Access mode | Read/Write | |
Adjustable while grabbing | Yes | |
Value range | [0.02 , 255.999] | |
Default value | 1.0 | |
Availability | ||
Notes | This is the minimum divider value working in combination with other factors! This feature is not available if MasterSlaveMode is configured as Slave. | |
Error behavior | See the device error code documentation. | |
Encoder Average
Name | EncoderAverage[EncoderSelector] | Custom |
Description | Specifies the number of averaged encoder input pulses. | |
Interface | Enumeration | |
Access mode | Read/Write | |
Adjustable while grabbing | Yes | |
Value range | See enum entries table below. | |
Default value | Average1 | |
Availability | ||
Notes | This feature is not available if MasterSlaveMode is configured as Slave. | |
Error behavior | See the device error code documentation. | |
Encoder Output Mode Enum Entries:
Name | Description |
Average1 | No averaged performed |
Average2 | Average 2 |
Average4 | Average 4 |
Average8 | Average 8 |
Average16 | Average 16 |
Encoder Value
Name | EncoderValue[EncoderSelector] | Standard |
Description | Reads the current value of the position counter of the selected counter. | |
Interface | Integer | |
Access mode | Read Only | |
Adjustable while grabbing | - | |
Value range | [0, 65535] | |
Default value | 0 | |
Availability | ||
Notes | This feature is available only if EncoderOutputMode is either PositionUp or PositionDown. | |
Error behavior | See the device error code documentation. | |
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