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Incremental encoder

Summit servo drives drive are able to use up to 2 digital incremental encoder as feedback for any purpose (position, velocity, commutation, and auxiliary).

The parameters required to configured each digital encoder are:

  • Resolution. Resolution of the encoder in total counts per mechanical revolution.

    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.
  • FilterGlitch 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)

0100
133.33333333
216.66666667
38.333333333
44.166666667
52.083333333
61.041666667
70.5208333333
80.2604166667
90.1302083333
100.06535947712

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.

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