The parameters required to configured each digital encoder are:
-
Resolution. Resolution of the encoder in total counts per mechanical revolution.
-
0x238C - Incremental encoder 2 - Resolution
Changing the resolution of the incremental encoder resets the position, commutation and/or reference reading values if the incremental is selected for any of these functionalities.
-
Polarity. Polarity of the encoder. Setting a 0 value sets standard polarity, and setting a value different from 0 sets reversed polarity.
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Filter. Glitch filter levels of the incremental encoder module. There are 10 different glitch filter levels. Each level corresponds to a specific cut-off frequency. Setting this parameter to 0 will disable the glitch filter. The different glitch filter levels can be seen in the following table:
|
Glitch filter levels (Register value) |
Max Readable Encoder Freq (MHz) |
|---|---|
|
0 |
100 |
|
1 |
33.33333333 |
|
2 |
16.66666667 |
|
3 |
8.333333333 |
|
4 |
4.166666667 |
|
5 |
2.083333333 |
|
6 |
1.041666667 |
|
7 |
0.5208333333 |
|
8 |
0.2604166667 |
|
9 |
0.1302083333 |
|
10 |
0.06535947712 |
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Value. Additionally to the processed values obtained from the control loops (position, velocity, or angle), the raw value of the encoder is available for the user.