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Article   covers encoders with the following formats:


This article covers the differences when setting up an Endat 2.2 Encoder using the same X9 connector on the AKD:

1. Setup the AKD for FB3 - Endat 2.2 input in Workbench:

If two or more PCMM networks have to follow the same position set point, it's possible to use the following strategy.

The image below shows a typical configuration where all the AKD drives must follow the same position set point:


Orange connection is a physical pin-to-pin cable between X9 ports (encoder like wiring).

The strategy consists to declare one MASTER within the PCMM 1 program and sent its output to X9 port of one AKD (like an encoder emulation), e.g. the AKD 1_3.

This article outlines setting up a digitizing axis (secondary external encoder) or encoder master in a PxMM controller application that is using the PLCopen motion engine.

Procedure for checking your master encoder counts in the AKD.

This article refers to G&L PiC application note document AN000006 and describes Master/Slave, FU/LU roundoff with RATIO_GR and RATIOSYN.