JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 57
2.11 Using external SSI encoder
We set P5 = 100 and save this position into flash (set register 211 = 2).
In the previous example we set the 0-position to 12288 counts. So by setting P5 = 100
will result in the same position being:
P8 = (P7 - P6) + P5
P8 = (12288-12288) + 100
P8 = 100
Which again will be transferred to P_IST and P_SOLL if synchronization bit is set in the
SSI-setup register at start-up.
2.11.3 Registers used by SSI
Register 178, SSI_SETUP_BITS1 where:
SSI enable will setup the motor to read the SSI at start-up. The Synchronize bit transfers
the position calculated in P8 into P_IST and P_SOLL.
SSI Reset position is used to preset a position to the value stored in P5. Default P5=0.
Bit15=1 indicates a read failure, that is different values are read within the 4 times the
values is read.
Bit: 0 1 2 3 4 - 14 15
Function: SSI Enable/
Disable
Not used Synchronize
P_IST=P8,
P_SOLL=P8
SSI reset
position
(P6=current
position)
Future
options
SSI
Read Error
Register 57 P5 32-bit signed Holds the preset value that is used when a reset position is done
Register 59 P6 32-bit signed Holds the encoder value when the last Reset position was done. This
value is used as a refence at start-up to calculate the actual position.
Register 61 P7 32-bit signed Holds the newly read encoder value, scaled into motor counts.
Register 63 P8 32-bit signed Holds the calculated position, that is transferred to P_IST and P_SOLL
if the synchronization bit is set up in the setup register 178.
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