Encoder Control

Updated on Jan 7, 2025

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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	ALL
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	ALL
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. When set to off the encoder counter inserted into the info block gets reset.
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	ALL
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	ALL
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. The chromasens FourPhase mode is deviating from standard because the state machine defined by SFNC is not implemented.
HighResolution	The counter increments or decrements every quadrature phase for high resolution counting. This mode is not recommended due to jitter of the encoder.

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	ALL
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	ALL
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	ALL
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	ALL
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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