It is of vital importance to have exactly one sensor configured for Commutation so that the shaft’s position is known to the system. It is also mandatory to use a sensor for Motion Control but this can be the same one as for commutation. In case your setup requires it, you can use a different sensor for Motion Control. Monitoring is optional.

Resolution¶

For correct function it is necessary to provide the resolution of the sensor, this value is given in Inc/Revolution, please refer to your encoder’s data sheet.

Important

Please keep in mind that manufacturers sometimes give this specification in differing units. If the resolution according to your data sheet is not given in Inc/Revolution please convert the value.

Velocity calculation period¶

The time period between two position samples. This value is used to calculate the velocity.

Polarity¶

The polarity represents the direction of rotation of the motor in comparison to the rotation of the encoder. If these directions don’t match, then the polarity is inverted.

Multiturn resolution¶

In case your encoder supports multiturn functionality, the number of stored revolutions must be specified here.