AuxiliaryEnDatEncoderSetup Parameter
Default Value: 32
Minimum Value: None
Maximum Value: None
Units: None
Type: int
HARDWARE: This parameter applies only to the drives and configurations that follow:
Table: Applicable Drive Types and Feedback Options
| Drive Type | Feedback Option |
|---|---|
| FLEX | Using an EnDat absolute encoder |
| iXC4 | Using an EnDat absolute encoder |
| XC4 | Using an EnDat absolute encoder |
| iXC4e | Using an EnDat absolute encoder |
| XC4e | Using an EnDat absolute encoder |
| iXC6e | Using an EnDat absolute encoder |
| XC6e | Using an EnDat absolute encoder |
| iXL2e | Using an EnDat absolute encoder |
| XL2e | Using an EnDat absolute encoder |
| iXL5e | Using an EnDat absolute encoder |
| XL5e | Using an EnDat absolute encoder |
| iXR3 | Using an EnDat absolute encoder |
| XR3 | Using an EnDat absolute encoder |
Use the AuxiliaryEnDatEncoderSetup parameter to configure options related to the EnDat encoder interface of the drive. The sections that follow give the possible settings for this parameter.
Encoder Configuration
When the drive configures the EnDat encoder interface, this option tells the drive to use the manufacturer settings or the controller parameters that follow:
- AuxiliaryEnDatEncoderResolution Parameter
- AuxiliaryEnDatEncoderTurns Parameter
- Encoder Type option of the AuxiliaryEnDatEncoderSetup parameter
- Protocol Version option of the AuxiliaryEnDatEncoderSetup parameter
Use Controller Parameters is the default. When you select this option, the drive uses the values specified in the controller parameter file to configure the EnDat encoder interface.
When you select Use Manufacturer Settings, the drive uses the manufacturer settings that are stored in the encoder to configure the EnDat encoder interface.
Encoder Type
IMPORTANT: This setting does not apply if the Encoder Configuration option for the AuxiliaryEnDatEncoderSetup parameter is set to Use Manufacturer Settings.
This option specifies the type of EnDat encoder that you are using.
Rotary is the default. The controller is configured to communicate with a rotary EnDat encoder.
When you select Linear, the controller is configured to communicate with a linear EnDat encoder.
Initial Position
This option specifies how the drive initializes the position feedback of an axis when you use an EnDat absolute encoder for feedback.
Always Positive is the default. When the drive initializes the position of the axis, it interprets the value from the encoder as an unsigned number. Thus, the initial position is always positive. For example, if you set the AuxiliaryEnDatEncoderResolution parameter to 16, the drive initializes the position feedback to a value between 0 and 65,535.
When you select Positive or Negative, the drive interprets the value from the encoder as a signed number when it initializes the position of the axis. Thus, the initial position can be positive or negative. For example, if you set the AuxiliaryEnDatEncoderResolution parameter to 16, the drive initializes the position feedback to a value between -32,768 and 32,767.
Protocol Version
IMPORTANT: This setting does not apply if the Encoder Configuration option for the AuxiliaryEnDatEncoderSetup parameter is set to Use Manufacturer Settings.
The options for this setting are EnDat 2.1 (default) and EnDat 2.2. This setting corresponds to the protocol version that your EnDat encoder uses. Do not change this setting from the default unless Aerotech tells you to.
