Vesc6 - Encoder

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Hello everyone ,

I want to use my vecs6 dual motor driver with encoder . Because I cannot print POS data with the Hall sensor, it does not work.While the Hall sensor is connected, I can drive the Vesc6 device in my hand with rpm , duty cycle and current via CAN.I have 2 questions. My first question is, there is a tab called invert motor directions in the interface.I leave the picture below. Do you know exactly what data it prints from the can? Why does it keep moving for a certain period of time? I wonder if it keeps driving with rpm and running a timer? What is doing exactly ?If I can decipher the outgoing can message, it will be very useful to me.

My second question is , The encoder I have is not standard, I am sharing its picture below.How can I connect it to vesc6? I saw links to vesc4 on the internet, some resistors were being removed.But I'm not sure, the encoder I have has a total of 9 channels. of which 6 channels of axis, 1 axis vcc, 1 axis gnd and 1 axis shield. I don't know how to do this. Please help me with this issue because it seems like there is no other way for me to drive with POS.

here is the link of encoder's pinout : FNC 50H Connector Series (inelso.ru)

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Many questions can be answered by checking the part number on your encoder against the table.

image
image730×461 35.5 KB

p.s. no pictures seen in your post.

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Hello sir ,
The problem is that the vesc6 device is a device made with only a hall sensor input and what I saw on the internet is that some pull down resistors need to be removed for the encoder connection of this device, but this information was for vesc4 escs, so I was not sure. In the picture, only the cable names of the encoder are written, namely VCC, gnd, a, b, z, a', b', z' and shield respectively.

I contacted the manufacturer of both the encoder and the vesc device I bought, but they did not say anything and even left it unanswered.
Actually, my only problem is how can I connect this encoder here, which resistors should come out and which pins should go in here?
because vesc6 only has h1 h2 h3 vcc and gnd pin outputs

Here is the link that i wrote in vesc forum : Vesc6 - encoder | VESC Project

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