Encoder software status word. The bit definitions are as follows:

   bit 0 - first index found
   bit 1 - dual-loop slippage adjustment enabled, 1=enabled
   bit 2 - serial encoder ready, encoder is communicating via a serial protocol (e.g. a Panasonic absolute encoder).  This bit is automatically turned on when the system is booted and a serial encoder begins normal, valid communication.  This bit is turned off if an error occurs that requires that the communication be restarted (for example, if an encoder must be re-homed after a -3134 error).
   bit 3:15 - (reserved)
   bit 16 - unexpected zero index
   bit 17 - missing zero index
   bit 18 - encoder quadrature error
   bit 19 - encoder broken wire error
   bit 20 - encoder hardware fault
   bit 21 - encoder feedback over-speed error
   bit 22 - dual encoder position slippage error
   bit 23 - dual encoder speed slippage error
   bit 24 - illegal zero index detected by hardware
   bit 25 - serial encoder invalid ID
   bit 26 - serial encoder communication error (typically means the FPGA firmware timed out waiting for a message packet)
   bit 27 - serial encoder bad data error
   bit 28 - serial encoder crc error
   bit 29:31 - (reserved)

Time-stamp when the encoder reading is latched. This is not used for an incremental encoder and is always 0. It will be used for an absolute encoder, specifically for a serial commutation type of encoder. The time stamp resolution is in micro-seconds, and potentially allows for jitter compensation to allow for more accurate velocity and accel feedback derivation.

Encoder feedback position.  This encoder value corresponds to the current axis position.

Encoder feedback velocity, unfiltered.

Motor feedback position. Normally, the encoder to motor scale factor is 1 (DataID 10206), and the motor feedback position is the same as the encoder feedback position.

Motor feedback velocity, unfiltered.

Filtered motor feedback velocity. Refer to DataID 10207, "Motor velocity SPR filter pole", for the filter setup.  This filtered value is NOT used in the PID loop.  This term is used for other purposes, such as:

   1. Determining if the motor is spinning to fast and is violating the "Run-time speed limit" (DataID 10208) or the "Manual mode speed limit" (DataID 10209).  This can cause an "Axis over-speed" (-3106) error.
   2. Estimating the projected position of a conveyor belt.
   3. Adjusting the motor current loop if the "Motor Back_EMF" (DataID 10658) compensation is enabled.

Motor feedback acceleration. This value is derived from the filtered velocity feedback. However, due to the double differentiation of the position feedback, this value is typically very noisy. This data is only used during special resonance cancellation situations.

(Dual-loop) Scaled minor motor position in the major motor space.

(Dual-loop) Position slippage amount between the major and minor encoders. This calculation is evaluated in the major motor space, i.e., the minor encoder position is scaled into the major motor.

(Dual-loop) Maximum position slippage observed so far. This variable may be reset during run-time to allow you to capture the maximum value over a new period of time.

(Dual- loop) Scaled minor motor speed in the major motor space.

(Dual-loop) Speed slippage amount between the major and minor encoders. This calculation is evaluated in the major encoder space.

(Dual-loop) Maximum speed slippage observed so far. This variable may be reset during run-time to allow you to  capture the maximum value over a new period of time.