Feedback #

Incremental Encoder #

An incremental encoder operates on the principle of quadrature encoding, meaning it uses two channels of data to provide accurate measurement information. When the encoder is rotated or displaced, both output signals A and B change in a specific sequence that indicates direction and magnitude of movement. However, since it doesn’t maintain an absolute position reference, it only provides relative changes from its initial state.

STMBL FBx Pinout #

Config #

link enc_fb0
conf0.mot_fb_res = 4096

Sin/Cos Encoder #

A sin-cos encoder is a type of rotary encoder that outputs two signals, sine and cosine waves, which are phase-shifted by 90 degrees. These signals can be used to determine the position and direction of rotation with high precision. The encoder generates these signals based on the angular position of its shaft relative to a datum point. By comparing the values of the sine and cosine outputs at any given time, it’s possible to calculate the exact angle or position of the shaft.

STMBL FBx Pinout #

Config #

link enc_fb0
conf0.mot_fb_res = 4096
fb_switch0.mot_pos = enc_fb0.ipos

Resolver #

A resolver is an electrical device that converts the angular position of a rotating shaft into an output signal by using magnetic fields and coils. It generates two phase-shifted sine signals that can be used to determine the position and direction of rotation with high precision.

STMBL FBx Pinout #

Config #

link res_fb0

Tamagawa Smartabs #

 _____
|2 4 6\
|1_3_5/

Cable pinout #

STMBL FBx Pinout #

Config #

link smartabs_fb0

Mitsubishi #

Mitsubishi servos such HA-FF usually have OBA17-051 or OBA17-052 encoders.

STMBL has support the “mit 02-4” and “mit 02-2” protocols for these encoders.

• some protocol description

STMBL FBx Pinout #

Config #

link encm_fb0

Kawasaki - Sanyo Denki absolute encoder #

STMBL FBx Pinout #

Config #

link encs_fb0

Omron absolute encoder #

Cable pinout #

 _________
| 4 3 2 1 |
 \_7_6_5_/

STMBL FBx Pinout #

Config #

Panasonic absolute encoder #

Cable pinout #

 _____
|1 2 3|
|4_5_6|

STMBL FBx Pinout #