### MENCTYPE

sets the motor encoder type. When this variable is changed on an encoder-based system, the drive will enter a no-comp state, requiring a CONFIG command (see CONFIG). In version 1 firmware prior to 1.2.0, MENCTYPE = 0 is assumed.

Encoder Charachtaristics
Menctype | A/B Quad | Marker Pulse | Hall Effects | Firmware versions
0 | x | x | x | all
1 | x | x |  | all
2 | x | x |  | all
3 | x |  |  | all
4 | x |  |  | all
5 |  |  | x | 4.1.8 and later
6 | x |  | x | all
Sine Encoder Options
7 | x | x | C/D Channels | 3.4.0 and later
8 | x |  | C/D Channels | 3.4.0 and later
9 | x |  | EnDat (Heidenain) | 3.4.0 and later
10 | x |  | Hiperface (Stegmann) | 6.0.2 and later

MENCTYPE 0 to 6 can be used with both the Digital and Sine option. The drive will automatically sense the Sine Encoder feedback and make the appropriate adjustments.

INITIALIZATION METHODS
MENCTYPE | Method of Initialization
0 | Initialization is automatic upon power-up. Finding marker pulse location may be performed by using the ENCINIT command.
1 | Initialization is required and is triggered by the ENCSTART command. This may optionally be followed by marker pulse location using the ENCINIT command.
2 | Initialization is required and is triggered on power up (when the drive is enabled) or by using ENCSTART. This may optionally be followed by marker pulse location using the ENCINIT command.
3 | Initialization is required and is triggered by the ENCSTART command.
4 | Initialization is required and is triggered on power up (when the drive is enabled) or by using the ENCSTART command.
5 | Initialization is automatic upon power-up.
6 | Initialization is automatic upon power-up.
7 | Initialization is automatic upon power-up. Finding marker pulse location may be performed by using the ENCINIT command.
8 | Initialization is automatic upon power-up.
9 | Initialization is automatic upon power-up.
10 | Initialization is automatic upon power-up.

For MENCTYPE 0-2 and 7, ENCINIT should be performed where MENCOFF is unknown.

Firmware Versions: all
Type: switch mode (R/W) Range: 0 to 10
Units: n/a Default: motor data (0 if undefined)
Opmodes: all Drive Status: dis EEPROM: yes