softMC 3 CANopen with stepIM
softMC 3 CANopen with CDHD
softMC 7 CANopen with stepIM
softMC 7 CANopen with CDHD
softMC 7 EtherCATwith CDHD
Some application requires an external encoder (secondary encoder).
To be able to use secondary encoder device - Differential A/B encoder only - user have to connect is to C3 interface in the CDHD:
To activate secondary encoder function it's necessary to set drive GEARMODE to 3 (and SAVE this setting) using ServoStudio
|The external position is monitored by the drive in all operation modes - position, velocity and torque|
When secondary encoder is active, one can read it's position through EtherCAT object 0x20B6 sub-index 0.
By mapping this object to PDO (using softMC Configurator) encoder position can be monitored using <axis>.pext command.
In this example we assume that axis 1 has external encoder connected to it's CDHD drive
This simple example print each second axis position according to the secondary encoder:
program continue while 1 call axisExternalPos sleep 1000 end program public sub axisExternalPos print "a1 external position is: " + str$(a1.pext) end sub