Encoders
Encoder resources are primarily used for position feedback on servo and closed-loop stepper axes. When encoder resources are not mapped to an axis for use as axis feedback, you can use them for any number of other functions including position or velocity monitoring, as digital potentiometer encoder inputs, or as master encoders for master/slave and gearing applications. The following table lists the resource IDs and constants for encoders:
| Resource Name | Resource ID | Constant |
|---|---|---|
| Encoder Control | 0x20 | NIMC_ENCODER_CTRL |
| Encoder 1 | 0x21 | NIMC_ENCODER1 |
| Encoder 2 | 0x22 | NIMC_ENCODER2 |
| Encoder 3 | 0x23 | NIMC_ENCODER3 |
| Encoder 4 | 0x24 | NIMC_ENCODER4 |
| Encoder 5 | 0x25 | NIMC_ENCODER5 |
| Encoder 6 | 0x26 | NIMC_ENCODER6 |
| Encoder 7 | 0x27 | NIMC_ENCODER7 |
| Encoder 8 | 0x28 | NIMC_ENCODER8 |
| Encoder 9 | 0x29 | NIMC_ENCODER9 |
| Encoder 10 | 0x2A | NIMC_ENCODER10 |
| Encoder 11 | 0x2B | NIMC_ENCODER11 |
| Encoder 12 | 0x2C | NIMC_ENCODER12 |
| Encoder 13 | 0x2D | NIMC_ENCODER13 |
| Encoder 14 | 0x2E | NIMC_ENCODER14 |
| Encoder 15 | 0x2F | NIMC_ENCODER15 |
| Encoder 16 | 0xC1 | NIMC_ENCODER16 |
| Encoder 17 | 0xC2 | NIMC_ENCODER17 |
| Encoder 18 | 0xC3 | NIMC_ENCODER18 |
| Encoder 19 | 0xC4 | NIMC_ENCODER19 |
| Encoder 20 | 0xC5 | NIMC_ENCODER20 |
| Encoder 21 | 0xC6 | NIMC_ENCODER21 |
| Encoder 22 | 0xC7 | NIMC_ENCODER22 |
| Encoder 23 | 0xC8 | NIMC_ENCODER23 |
| Encoder 24 | 0xC9 | NIMC_ENCODER24 |
| Encoder 25 | 0xCA | NIMC_ENCODER25 |
| Encoder 26 | 0xCB | NIMC_ENCODER26 |
| Encoder 27 | 0xCC | NIMC_ENCODER27 |
| Encoder 28 | 0xCD | NIMC_ENCODER28 |
| Encoder 29 | 0xCE | NIMC_ENCODER29 |
| Encoder 30 | 0xCF | NIMC_ENCODER30 |
Functions that can operate on multiple encoders simultaneously (for example, Read High-Speed Capture Status) can take the encoder control (NIMC_ENCODER_CTRL) as their resource parameter.
All encoders feature high-speed capture inputs and breakpoint outputs. These features are implemented in the encoder processor FPGA and are fully functional when an encoder is used as an independent resource or as feedback for an axis.