Encoders

For encoder usage and info for developers, see: Encoder Usage

An encoder can be defined on its own, or can be associated to an axis to add some extra checks before and after a movement.

Example of standalone encoder

controller:
  class: icepap
  host: iceid42
  encoders:
      - name: m4enc
        address: 25
        steps_per_unit: 1e5

Example of axis encoder

An encoder associated to an Axis is defined in controller section and referenced in axes section.

controller:
  class: icepap
  host: iceid42
  axes:
      - name: m4mot
        address: 1
        steps_per_unit: 817
        velocity: 0.3
        acceleration: 3
        tolerance: 0.001
        encoder: $m4enc
  encoders:
      - name: m4enc
        address: 25
        steps_per_unit: 1e5

configuration parameters

• name
  • Encoder object’s name.
• steps_per_unit
  • This value is used to define the conversion factor between encoder steps value and real position in user unit. It must be accurate to allow comparison between position required by user and real position.
• tolerance
  • Value in user_units.
  • At end of a movement, the encoder value is read and compared to the target position of the movement. If the difference is outside the limit fixed by the encoder tolerance (beware to not confuse with Axis tolerance), an exception is raised with message: "didn't reach final position"

Icepap encoder

For specific details about icepap encoders, see Icepap Encoder Configuration