Skip to main content
Version: 1.1.1

ecfacade::Encoder

High-level encoder handle. More...

#include <encoder.hpp>

Inherits from DeviceFacade

Public Functions​

Name
std::int32_tvelocity() const
Latest velocity reading from the sensor (counts/s).
std::uint16_tstatus() const
Raw operating-status word from the sensor.
std::int32_tposition() const
Latest position reading from the sensor (encoder counts, CiA406 0x6004).
ecdev::IEncoderProfile *encoderProfile() const
Escape hatch to the underlying encoder profile contract for callers that need capabilities beyond the standard position/velocity/status accessors.
Encoder(ecdev::IEncoderProfile * enc, std::string name, ecdev::IEthercatDevice * device)

Detailed Description​

class ecfacade::Encoder;

High-level encoder handle.

Thin wrapper over an [ecdev::IEncoderProfile](/lxmaster/api/classes/IEncoderProfile); the application reads position/velocity/status without seeing CoE objects or the backend.

Public Functions Documentation​

function velocity​

std::int32_t velocity() const

Latest velocity reading from the sensor (counts/s).

Returns 0 if the device does not map a velocity object. RT-safe.

function status​

std::uint16_t status() const

Raw operating-status word from the sensor.

Returns 0 if the device does not map a status object. Consult the device datasheet for bit definitions. RT-safe.

function position​

std::int32_t position() const

Latest position reading from the sensor (encoder counts, CiA406 0x6004).

RT-safe.

function encoderProfile​

ecdev::IEncoderProfile * encoderProfile() const

Escape hatch to the underlying encoder profile contract for callers that need capabilities beyond the standard position/velocity/status accessors.

Return: The IEncoderProfile backing this encoder. Never null while the encoder is valid.

function Encoder​

Encoder(
    ecdev::IEncoderProfile * enc,
    std::string name,
    ecdev::IEthercatDevice * device
)

Updated on 2026-07-13 at 20:44:41 +0000