Parker Hannifin
Chapter 6 Command Reference 127
rotary motors by default. If a linear motor is configured, the drive sets a 2.67
MHz pre-quadrature maximum input encoder frequency by default.
The ENCFLT command increases the default maximum pre-quadrature
encoder frequency from 1.02 MHz to 2.67 MHz or 5 MHz. This allows users
to take advantage of the higher input frequency, if necessary, at the expense
of some noise immunity.
Note: This command does not take effect until you cycle power to the drive
or send the RESET command.
ENCOFF Encoder Offset
Type Motor configuration Product Rev
Syntax <a_>ENCOFF<i> Aries 1.0
Units i = encoder offset
Range -32768 to 32767
Default 0
Response ENCOFF: <*>0
See Also ALIGN, ENCPOL, SHALL, IANI, CMDDIR, P163
The ENCOFF command specifies the encoder offset. All standard (non-smart)
Parker encoders have an encoder offset of 0 degrees. The smart encoders
store the encoder offset in the motor, which the drive reads (and stores in the
ENCOFF parameter) upon power-up. The offset can vary from
–180 degrees (corresponding to ENCOFF=-32768) to +180 degrees
(corresponding to ENCOFF = 32767).
Note: To convert from degrees to counts, just multiply the offset in degrees
by 182.044.
ENCPOL Encoder Polarity
Type Drive Configuration Product Rev
Syntax <a_>ENCPOL<b> Aries 2.0
Units b = polarity bit
Range 0 (normal polarity), 1 (reverse polarity)
Default 0
Response ENCPOL: <*>0
See Also ALIGN, CMDDIR, TPE, TPER
The ENCPOL command reverses the encoder counting direction.
You can reverse the encoder polarity if the encoder input is counting in the
wrong direction (for example, using a custom motor). This reverses the
encoder counting direction without having to change the actual wiring to the
encoder input.
Notes
• This command does not take effect until you cycle power to the
drive or send the RESET command.