3.1.4.5.1.4 Polarity
The polarity represents the direction of rotation of the motor in comparison to the rotation of the encoder. If
these directions don’t match, then the polarity is inverted.
3.1.4.5.1.5 Multiturn resolution
In case your encoder supports multiturn functionality, the number of stored revolutions must be specified
here.
3.1.4.5.2 Parameters
0x2110 Encoder 1 configuration Configuration object for Encoder 1.
0x2111 Encoder 1 feedback Provides the position or velocity value read at Encoder 1.
0x2112 Encoder 2 configuration Configuration object for Encoder 2.
0x2113 Encoder 2 feedback Provides the position or velocity value read at Encoder 2.
0x2012:9 Position controller: Encoder source Which encoder should be used for position control.
0x2011:5 Velocity controller: Encoder source Which encoder should be used for velocity control.
0x2010:12 Torque controller: Encoder source Which encoder should be used for torque control and
for commutation.
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