The goal of this function is to connect an encoder to acquire a position. This function can be used as Master Axis for motion drives on CANmotion.
This function can be implemented on the Expert I/O module (DM72F0 and DM72F1) and the Encoder interface (Sub-D).
The Motion Encoder configuration is split in 2 parts:
oA hardware part: Motion Encoder; described in this document.
oA software part: SoftMotion encoder; described in the online help CoDeSys part, Editors/Devices Editors/SoftMotion Device Editor.
The Motion Encoder is managed by function blocks from the LMC058 Motion library and SoftMotion (See online help Programming with EcoStruxure Machine Expert part, SoftMotion/Programming Interface/SoftMotion Libraries/SM3_Basic_library).
When implemented on an Expert I/O interface, the encoder support the Incremental mode.
When implemented on the Encoder interface, the encoder has 2 possible modes:
On the Encoder interface, the power supply is monitored. A power supply error detected (SMC_DI_VOLTAGE_DISABLED) is cleared automatically when the power supply recovers.
In addition, the Motion Encoder provides a capture function.
Maximum admissible frequency:
oExpert I/O module: 100 kHz.
oEncoder interface: 200 kHz.
