Encoder Configuration

Description of common encoder parameters


Each encoder can have one of these functions: Commutation, Motion Control feedback and Monitoring.

It is of vital importance to have exactly one encoder configured for Commutation so that the shaft’s position is known to the commutation algorithm. It is also mandatory to use a encoder for Motion Control but this can be the same one as for commutation. In case your setup requires it, you can use a different encoder for Motion Control. Monitoring is optional.


For correct function it is necessary to provide the resolution of the encoder, this value is given in Inc/Revolution, please refer to your encoder’s data sheet.


Please keep in mind that manufacturers sometimes give this specification in differing units. If the resolution according to your data sheet is not given in Inc/Revolution please convert the value.

Zero velocity threshold

Time without a position change in which the velocity is assumed to be zero. After this time the velocity value is set to 0 if no new position was received from the encoder. The default value is 5000 µs.


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.

Set the value to `-1` to invert the polarity.

Multiturn resolution

In case your encoder supports multiturn functionality, the number of stored revolutions must be specified here.