Latching with Sinusoidal Encoders:
The function of the hardware latch feature for the ICM-42100 interconnect module is illustrated with an example
below. Figure A11.3 shows a sinusoidal encoder signal and its equivalent quadrature representation. Position
latching is reported using the RL command and latching can be triggered based on the index or digital input via the
AL command. The value that RL reports is the position of the sinusoidal encoder at the last quadrature transition.
As an example, the latch takes place at point “A” and was approached from the left. The position that RL will report
will be the sinusoidal position at point “B”. Alternatively, if the latch takes place at point “A” but was approached
from the right, the position that RL will report will be the sinusoidal position at point “C”
NOTE: The latching for sinusoidal encoders is valid on DMC-40x0 firmware versions 1.2g-SIN and later.
A12 – ICM-42100 (-I100) ▫ 274 DMC-40x0 User Manual
Figure A11.3
V
a
V
b
Channel A
Channel B
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