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).
EtherCAT/CANopen drives:
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.
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 |
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.
SPI drives:
The parameters required to configured each digital encoder are:
Resolution. Resolution of the encoder in total counts per mechanical revolution.
0x38C - 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.
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 |
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.