Encoder Parameters

Parameter	Default value	Unit	Description
Velocity Feedback Mode	Observer		Method used to determine position and actual velocity. The system has been optimized for Observer.
Position Feedback Mode	Modulo_Start		How the mover positions are calculated on start.
Position Feedback Mode	Standard: all positions are absolute and all axis with positions less than half the modulo distance start with a negative number. Modulo: The start positions are modulo but movers that are more than half the modulo distance start with a negative number. Modulo_Start: positions are modulo but on start all movers have a positive value. Simulation: the encoder is simulated rather than receiving feedback from the XTS. Simulating a random noise and adding the noise to the real signal. When moving the actual position is following the set point with 1 cycle delay. Modulo Start Invert: The same as modulo start, but all al movers are given a negative value. (Movers that have had their Encoder Count direction and Motor Polarity inverted will start with a positive number)
Position Low Pass Filter	500	Hz	Low Pass frequency of the Observer model and speed filter. Can be increased if an extremely stiff mover/track system is used. E.g. Steel Track Steel wheels nearly zero mover flex. Never be below 100Hz.
Bandwidth	160	Hz	The bandwidth used for the observer model and speed filter. Adjust this value as necessary to eliminate oscillations. As a rule the more flex the load induces on the mover, the lower the value but it is dependent upon the stiffness of the mover, load, and track. Never set below than 80Hz
Correction Factor	0.5		Load correction factor of the observer model. This is the ratio of the load to the mass of the mover. For an unloaded mover this can be a value of 1. For loads greater than 350g the correction factor should not be less than 0.5
Simulation Offset	10.0	mm	If the simulation encoder is used this is the start position of the mover. Every mover should have a different (realistic) start position.