Servosila-Device-Reference-0xA020192

Telemetry - Peripheral: Quadrature Encoder
# Parameter Units Description CANopen
1
Quadrature: count counts The encoder's ABSOLUTE POSITION expressed in counts (quadrature
edge counts).
UINT32,
0x500A,
0x06,
ro
2
Quadrature:
direction
0 or 1 The direction of the rotation of the encoder's disk BOOL,
0x500A,
0x05,
ro
3
Quadrature: encoder
speed
Hz The speed of quadrature disk rotation expressed in revolutions per second
(Hz). This speed is estimated using "UNIT TIME" or "UNIT DISTANCE"
method (see "Peripheral: Quadrature Encoder" configuration section for
details).
FLOAT32,
0x500A,
0x08,
ro
4
Quadrature: encoder
speed (UNIT
DISTANCE)
Hz The speed of quadrature disk rotation computed using "UNIT
DISTANCE" method.
FLOAT32,
0x500A,
0x0C,
ro
5
Quadrature: encoder
speed (UNIT TIME)
Hz The speed of quadrature disk rotation computed using "UNIT TIME"
method.
FLOAT32,
0x500A,
0x0D,
ro
6
Quadrature: distance
travelled in UNIT
TIME
counts This parameter helps monitor performance of UNIT TIME speed
computation method.
FLOAT32,
0x500A,
0x0E,
ro
7
Quadrature: signal A 0 or 1 Reading of signal "A" BOOL,
0x500A,
0x02,
ro
8
Quadrature: signal B 0 or 1 Reading of signal "B" BOOL,
0x500A,
0x03,
ro
9
Quadrature: signal I 0 or 1 Reading of INDEX signal BOOL,
0x500A,
0x04,
ro
10
Quadrature: index
detected
0 or 1 This bit latches whenever the quadrature encoder detects its INDEX
position for the first time. Until the INDEX signal is detected, the encoder
cannot measure an absolute position of the shaft since it does not have a
reference point that corresponds to a zero position.
BOOL,
0x500A,
0x0A,
ro
11 Quadrature: phase - This is a counter of phase errors in quadrature signals. UINT32,
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