Init Parameter

General

Name	Default value	Unit	Type
Load Type	None		MC.ELoadType

Load Type

Specifies which load variable this encoder measures (e.g., Force, PressureA, PressureB).

Scaling

Name	Default value	Unit	Type
Direction Inverted	FALSE		BOOL
Load Scaling Factor Numerator from Hardware	0.001	[[LoadUnit]/INC]	LREAL
Load Scaling Factor Denominator from Hardware	1.0		LREAL
Load Offset	0.0	[LoadUnit]	LREAL

Direction Inverted

The Direction Inverted parameter can reverse the counting direction of the encoder or drive:

FALSE: The polarity of the axis movement agrees with the counting direction of the acquisition hardware.
TRUE: The polarity of the axis movement is in the opposite sense to that of the counting direction of the acquisition hardware.

WARNING

Risk of injury from unexpected movements

If the counting direction of the encoder and the motor polarity do not match, the axis will perform unexpected movements.

When commissioning the system, make sure that the drive's direction of rotation is set correctly.
Always maintain a safe distance.

Load Scaling Factor Numerator from Hardware

This value is used to convert sensor increments into the actual load value.

Load Scaling Factor Denominator from Hardware

This value is used to convert sensor increments into the actual load value.

Load Offset

Offset used to specify a machine-dependent zero point.

Connection

Name		Default value	Type
AMS address		0.0.0.0.0.0:0
	.netId	0.0.0.0.0.0	AMSNETID
	.port	0x0000	WORD
Channel Number		0	UDINT
EtherCAT Slave Oid		00000000	OTCID

AMS address

Information about the address of the assigned hardware drive (read-only); no manual configuration is required. It is used for communication purposes.

Channel Number

Information about the channel number of the assigned hardware drive (read-only); no manual configuration is required. It is used for communication purposes.

EtherCAT Slave Oid

Object ID of the EtherCAT slave.

Actual Load Filter

Name		Default value	Unit	Type
Filter Type		None		MC.EFilterType
	Filter Time Load	0.0	s	LREAL
	Filter Time Load Derivative	0.005	s	LREAL
	Filter Time Load Second Derivative	0.01	s	LREAL
	Filter Time	0.001	s	LREAL

Filter Type

Defines the filter algorithm. The following types are available:

None: No filter is applied.
PT1: A first-order low-pass filter.
MovingAverage: Outputs the average value of the input signal over the filter time.
KalmanFilter3x1: FIR low-pass filter

Filter Time Load

Increasing positive values increase the smoothing and delay of the actual load; zero means no filtering.

Filter Time Load Derivative

Increasing positive values increase the smoothing and delay of the actual load derivative; zero means no filtering.

Filter Time Load Second Derivative

Increasing positive values increase the smoothing and delay of the second derivative of the actual load; zero means no filtering.

Filter Time

Filter time for the Kalman filter. The value is squared internally to obtain the covariance of the observational noise (R_sigma_s). Higher values produce a smoother output signal, while lower values track the measured signal more closely.