Encoder Configuration

Parameter description

Function

Each encoder can have one of these functions: Commutation, Velocity or position.

It is of vital importance to have exactly one encoder configured for Commutation so that the motor shaft’s position is known to the commutation algorithm. In case your setup requires it, you can use a different encoder for Position or Velocity. In this case, the demanded and actual velocities will be scaled to the same reference frame of the position.

Resolution

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

Attention

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.

Zero velocity threshold

Time without a position change in which the velocity is assumed to be zero. After this time, the velocity value is set to 0 if no new position was received from the encoder. The default value is 5000 µs.

Attention

Expert setting. The default value will perform sufficiently in most cases.

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.

Set the value to -1 to invert the polarity.

Multiturn resolution

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

Parameters

0x2110 Encoder 1 configuration

Configuration object for Encoder 1.

0x2111 Encoder 1 feedback

Provides the position or velocity value read at Encoder 1.

0x2112 Encoder 2 configuration

Configuration object for Encoder 2.

0x2113 Encoder 2 feedback

Provides the position or velocity value read at Encoder 2.

0x2012:9 Position controller: Encoder source

Which encoder should be used for position control.

0x2011:5 Velocity controller: Encoder source

Which encoder should be used for velocity control.

0x2010:12 Torque controller: Encoder source

Which encoder should be used for torque control and for commutation.