34200 ENC_REF_MODE = 5:
When the BERO is passed, the zero mark search is started with the detection of the edge, and referencing to the next detected zero mark takes place.
When the BERO is crossed in mode 5, zero mark search is started with the recognition of the negative BERO edge and synchronization with the next zero mark in sequence takes place.
之前没有注意到,看这些描述,是用BERO做减速,再找编码器零脉冲.