Encoder Motion Functions

Introduction

The encoder Motion Functions tab allows you to configure specific elements, exclusively for motion applications.

NOTE: These Motion Functions must not be used with the M262Encoder library when check boxes for Axis, Scaling, Filter and/or DeadTimeCompensation are enabled.

Configuring the Motion Functions

This table describes the procedure to configure the motion functions

Step	Action
1	Double-click the encoder node in the Devices tree.
2	Open the Motion Functions tab.
3	Enable check boxes for Axis, Scaling, Filter and/or DeadTimeCompensation. Result: The configuration parameters are displayed in the Incremental Encoder configuration tab or in the SSI Encoder configuration tab.

Step

Action

1

Double-click the encoder node in the Devices tree.

2

Open the Motion Functions tab.

3

Enable check boxes for Axis, Scaling, Filter and/or DeadTimeCompensation.

Result: The configuration parameters are displayed in the Incremental Encoder configuration tab or in the SSI Encoder configuration tab.

Incremental/SSI Encoder

This table describes the motion functions configuration parameters of the incremental encoder or of the SSI encoder:

Parameter	Type	Value	Default Value	Description
Scaling
IncrementResolution	DINT	1...2,147,483,647	131072	IncrementResolution
PositionResolution	LREAL	1.0...1.7976931348623158e+308	360.0	PositionResolution
GearIn	UDINT	1...4,294,967,295	1	GearIn
GearOut	UDINT	1...4,294,967,295	1	GearOut
InvertDirection	BOOL	FALSE	FALSE	Invert movement direction of the axis
Filter
AverageDuration	UDINT	0...1024	0	Filter duration in Sercos cycles
DeadTimeCompensation
Delay	LREAL	-100.0...100.0	0	Delay of feedback movement values (position/velocity/acceleration) in milliseconds. This delay will be compensated by the system.

NOTE: The DeadTimeCompensation delay, without a filter, results in a very high signal deviation of the feedback velocity and can result in unintended behavior of a coupled slave axis.

WARNING
	UNINTENDED EQUIPMENT OPERATION Use a filter whenever you use a delay for DeadTimeCompensation. Failure to follow these instructions can result in death, serious injury, or equipment damage.