Configuring an Encoder

2024-05-25T16:21:41.427000Z

I have a raspberry pi trying to add encoder to it using that free encoder node.

I simply dont understand where the encoder channel A/B suppoded to be mapped when i got to I/O mapping on encoder I get nothing to

where to set the channels for the encoder or is there any blocks from a library or how is it that you use an encoder with Codesys it doesn't seem clear at all

Configuring an Encoder

2021-08-07T05:39:15.436000Z

What is the purpose of free encoder?.Can anyone help me out to solve the below issue? The issue is that the internal encoder overflows even we reset its position(If we continuously run it in the same direction)

https://forge.codesys.com/forge/talk/Motion/thread/8abf72a7ad/

Configuring an Encoder

2020-02-27T18:47:09.087000Z

Hi,
hm.. maybe I do not understand the problem.
On an Encoder the ramps are given by the input/speed/ of the encoder signal, right?
Maybe you want to filter These values?
See the chapter here:

https://help.codesys.com/webapp/sm-edt- ... on=4.3.0.0

BR
Edwin

Configuring an Encoder

2020-02-27T18:47:07.938000Z

Hello all,
I know thi is an old thread, but I have another issue on this case.

I've configured whit success one free encoder as a master by a gear function (I also tried awith a cam).
My problem now are the acceleration and deceleration ramps, how can I fix a ramp values to limit the acceleration and deceleration on a free encoder?

Thanks
Roberto.

Configuring an Encoder

2020-02-27T18:47:04.642000Z

Originally created by: ph0010421

Great. Thank you. Excellent support.
Paul

Configuring an Encoder

2020-02-27T18:47:03.463000Z

Hi,

yes this will work use the encoder axis like a regular axis.
BR
Edwin

Configuring an Encoder

2020-02-27T18:47:00.194000Z

Originally created by: ph0010421

Thank you Edwin for the fast response.
I need to use the free encoder as a master axis (MC_Cam In for example).
Will this method work?

Configuring an Encoder

2020-02-27T18:46:59.034000Z

Hi,

Copy the rawdata to the EncoderAxis:
LineEncoder.diEncoderPosition:= di_yourEncoderRawInput_from_EthercatProcessdata;

BR
Edwin

Configuring an Encoder

2020-02-27T18:46:55.787000Z

Originally created by: ph0010421

Hello
I'm currently struggling with this.
I have added an EtherCAT slave (a TR Electronics EtherCAT encoder).
In the CoE Online Window, I can see the Timestamp and Position change.

I've mapped the Position to the FreeEncoder's diActPosition but it is always zero.

Maybe someone has a suggestion?

Thank you
Ph

Configuring an Encoder

2020-02-27T18:46:54.629000Z

No, that's not what I mean.

I'll try to explain it some more by doing a practical example.
Let's say you have a simple incremental encoder in your machine.
You connect this to a Beckhoff EL5152 module which has a EK1100 bus node.
The encoder value can now be retrieved from that slave.

But in order for it to be used as a FreeEncoder, you need to somehow copy that encoder value from the Beckhoff slave into the FreeEncoder's .diEncoderPosition input.
There are two ways of doing this.
1) Map it directly to the FreeEncoder in the EtherCAT I/O Mapping tab of the EK1100. In my post above, I would map it directly to EncMaster.diEncoderPosition.
2) Map it to a variable of your own choice, then manually copy that variable into EncMaster.diEncoderPosition every motion cycle by code.

The 2nd choice might be more useful since you have a chance to alter the value if needed (f ex. byteswap, or you get the value in 3 bytes and need to combine them yourself etc. etc).

Also, this will only create a proper encoder object.
If you want to slave against it, then look up the PLCOpen MC_GearIn and MC_GearOut instructions.

One last thing:
When selecting the bitwidth of the encoder in the FreeEncoder settings, always choose the same OR LOWER setting, otherwise rollovers won't be handled properly.
F ex: If you have a 29bit encoder source value, you should set bitwidth to 24, otherwise you will get an error on rollover.

Kim Hansen
Beijer Electronics Automation AB

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