18．EtherCAT COMMUNICATION
(30) Encoder status (2D35h)
The status of the encoder is returned. The description of each Sub Index is as follows.
This object is available with drivers.
The status of the encoder is returned. For a fully closed loop system, the external encoder
status is returned.
Bit 0: Whether the driver is used in an absolute position detection system or not is
returned.
0 = Incremental system
1 = Absolute position detection system
Bit 1 to Bit 31: Reserved
The status of the scale measurement encoder is returned.
Bit 0: Whether the driver is used in an absolute position detection system or not is
returned.
0 = Incremental system
1 = Absolute position detection system
Bit 1: Whether the scale measurement function is enabled or disabled is returned.
0 = Disabled
1 = Enabled
Bit 2: Whether the connected scale measurement encoder is the absolute position type or
not is returned.
0 = Incremental type
1 = Absolute position type
Bit 3 to Bit 31: Reserved
(31) Scale cycle counter (2D36h)
The position within one-revolution of the scale measurement encoder is returned. Returned values differ
depending on the scale measurement encoder type.
This object is available with drivers
Scale measurement encoder
Linear encoder
Absolute position type
Linear encoder
Incremental type
Linear encoder
A/B/Z-phase differential
output type
Incremental type
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