Class EncoderFunctions

Namespace

TwinSharp.NC

Assembly

TwinSharp.dll

The EncoderFunctions class provides methods to interact with and control encoder devices via the TwinCAT ADS protocol. It includes functionalities to set and reinitialize the actual position of the encoder, activate and deactivate touch probes and external latches, and set external latch events. The class uses an AdsClient to communicate with the encoder and sends commands using specific index groups and offsets.

public class EncoderFunctions

Inheritance

object

EncoderFunctions

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Methods

ActivateExternalLatchFallingEdge()

Activate "External Latch" or activate "measuring probe function" (falling edge) KL5101,SERCOS,AX2xxx,PROFIDrive

public void ActivateExternalLatchFallingEdge()

ActivateExternalLatchFallingEdgeCANopen(bool, bool, bool, bool)

Activate "External Latch" 1 to 4 or activate "measuring probe function" 1 to 4 (falling edge) CANopen

public void ActivateExternalLatchFallingEdgeCANopen(bool latch1, bool latch2, bool latch3, bool latch4)

Parameters

latch1 bool

latch2 bool

latch3 bool

latch4 bool

ActivateExternalLatchRisingEdge()

Activate "External Latch" or activate "measuring probe function" (typically rising edge) KL5101,SERCOS,AX2xxx,PROFIDrive

public void ActivateExternalLatchRisingEdge()

ActivateExternalLatchRisingEdgeCANopen(bool, bool, bool, bool)

Activate "External Latch" 1 to 4 or activate "measuring probe function" 1 to 4 (typically rising edge) CANopen

public void ActivateExternalLatchRisingEdgeCANopen(bool latch1, bool latch2, bool latch3, bool latch4)

Parameters

latch1 bool

latch2 bool

latch3 bool

latch4 bool

ActivateTouchProbe(uint, SignalEdge, ProbeMode, uint)

Function group "TouchProbeV2": SERCOS/SoE, EtherCAT/CoE(CANopen DS402), SoftDrive(TCom), MDP 511 (EL5101, EL5151, EL5021, EL7041, EL7342)

public void ActivateTouchProbe(uint probeUnit, SignalEdge signalEdge, ProbeMode probeMode, uint signalSource)

Parameters

probeUnit uint

signalEdge SignalEdge

probeMode ProbeMode

signalSource uint

DeactivateExternalLatch()

Deactivate "external latch" or deactivate "measuring probe function" KL5101,SERCOS,AX2xxx,PROFIDrive

public void DeactivateExternalLatch()

DeactivateExternalLatchCANopen(bool, bool, bool, bool)

Deactivate "external latch" or deactivate "measuring probe function" CANopen

public void DeactivateExternalLatchCANopen(bool latch1, bool latch2, bool latch3, bool latch4)

Parameters

latch1 bool

latch2 bool

latch3 bool

latch4 bool

DeactivateTouchProbe(uint, SignalEdge)

Deactivate "touch probe" (external latch) Function group "TouchProbeV2": SERCOS/SoE, EtherCAT/CoE(CANopen DS402), SoftDrive(TCom), MDP 511 (EL5101, EL5151, EL5021, EL7041, EL7342)

public void DeactivateTouchProbe(uint probeUnit, SignalEdge signalEdge)

Parameters

probeUnit uint

signalEdge SignalEdge

ReInitActualEncoderPosition()

Re-initialization of the actual encoder position. Note: Takes effect for reference system „ABSOLUTE MULTITURN RANGE(with single overflow)“ and „ABSOLUTE SINGLETURN RANGE(with single overflow)“. NEW from TC3

public void ReInitActualEncoderPosition()

SetActualPosition(ActualPositionType, double)

Set actual position encoder/axis. Caution when using!

public void SetActualPosition(ActualPositionType actualPositionType, double position)

Parameters

actualPositionType ActualPositionType

position double

SetExternalLatchEvent(double)

Set "External latch event" and "External latch position" KL5101,SERCOS,AX2xxx,PROFIDrive Only for EtherCAT.

public void SetExternalLatchEvent(double position)

Parameters

position double