Class EncoderState

Namespace

TwinSharp.NC

Assembly

TwinSharp.dll

The EncoderState class provides access to various encoder states and properties through an AdsClient instance. It allows reading and writing of encoder-related data such as error codes, actual positions, velocities, accelerations, and other relevant metrics.

public class EncoderState

Inheritance

object

EncoderState

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Properties

ActualAcceleration

Optional: Actual acceleration. Symbol: "ActAcc".

public double ActualAcceleration { get; }

Property Value

double

ActualDriveVelocity

Optional: actual drive velocity(transferred directly from SoE, CoE or MDP 742 drive) Base Unit / s New from TC3.1 B4020.30

public double ActualDriveVelocity { get; }

Property Value

double

ActualIncrements

Encoder actual increments.

public int ActualIncrements { get; }

Property Value

int

ActualModuloRotation

Modulo actual rotation.

public int ActualModuloRotation { get; }

Property Value

int

ActualPosition

Actual position (charge with actual position compensation value). Symbol: "ActPos".

public double ActualPosition { get; }

Property Value

double

ActualPositionCorrectionValue

Actual position correction value (measuring system error correction).

public double ActualPositionCorrectionValue { get; }

Property Value

double

ActualPositionDueToDeadTimeCompensation

Actual position compensation value due to the dead time compensation.

public double ActualPositionDueToDeadTimeCompensation { get; }

Property Value

double

ActualPositionFiltered

Filtered actual position (offset with actual position correction value, without dead time compensation)

public double ActualPositionFiltered { get; }

Property Value

double

ActualPositionModulo

Modulo actual position. Symbol: "ActPosModulo".

public double ActualPositionModulo { get; }

Property Value

double

ActualPositionUnfiltered

Charge with actual position compensation value.

public double ActualPositionUnfiltered { get; }

Property Value

double

ActualPositionWithoutCompensation

Actual position without actual position compensation value.

public double ActualPositionWithoutCompensation { get; }

Property Value

double

ActualVelocity

Optional: Actual velocity. Symbol: "ActVel".

public double ActualVelocity { get; }

Property Value

double

ActualVelocityUnfiltered

Optional: Unfiltered actual velocity Base Unit / s

public double ActualVelocityUnfiltered { get; }

Property Value

double

ErrorCode

Error state encoder

public uint ErrorCode { get; }

Property Value

uint

ReferenceFlag

"Calibrate flag"

public bool ReferenceFlag { get; set; }

Property Value

bool

SoftwareActualIncrements

Software actual increment counter.

public int SoftwareActualIncrements { get; }

Property Value

int

TimeShiftSumDueToDeadTimeCompensation

Sum of time shift for encoder dead time (parameterized and variable dead time). Note: A dead time is specified in the system as a positive value.

public double TimeShiftSumDueToDeadTimeCompensation { get; }

Property Value

double

Methods

ReadActualPositionBuffer(out uint, out double)

Read the actual position buffer.

public void ReadActualPositionBuffer(out uint timestamp, out double position)

Parameters

timestamp uint

position double