Encoder

The encoder() function operates the IK220 encoder (Heidenhain).

Encoder
$ret = encoder( "hhe1", "position");
$ret = encoder( "hhe1", "cancelref");
$ret = encoder( "hhe1", "doref");
$ret = encoder( "hhe1", "init");
$ret = encoder( "hhe1", "staport");
$ret = encoder( "hhe1", "offset");
$ret = encoder( "hhe1", "conversion");
$ret = encoder( "hhe1", "offset", "value");
$ret = encoder( "hhe1", "conversion", "value");
$ret = encoder( "hhe1", "p1 ); # 1 incremental
$ret = encoder( "hhe1", "p1", "value");
$ret = encoder( "hhe1", "p2"); # 0 muA, 1 V
$ret = encoder( "hhe1", "p2", "value");
$ret = encoder( "hhe1", "p3"); # 0 linear, 1 rotational
$ret = encoder( "hhe1", "p3", "value");
$ret = encoder( "hhe1", "p4");
$ret = encoder( "hhe1", "p4", "value"); # 0 positive, 1 negative

Port status values: 0x20 after 'init', 0x4060 after 'doref', 0xffffc024 after passing the reference point.