JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 131
8.2 MIS23x Registers
8.2.31 Home mode
Description: Selects the zero search that should start on power up.
A value of 13 will use sensor type 1, while a value of 14 will use sensor type 2.
8.2.32 Absolute encoder position
Description: This is the absolute magnetic encoder position.
It is only a single turn value in the range 0 to 1599. Please notice that this value is extract-
ed from the physical internal encoder which have an resolution of 0-1023 counts (10 bits)
therefore some values are truncated to the nearest count.
The background for doing this truncation is to align the operation range of the internal
encoder to the motors physical resolution (1600 mini steps per rev.)
8.2.33 SSI encoder value
Description: This is the actual encoder position data received from the external SSI encoder. This
value is typically gray-coded.
The firmware offers the possibility to do the Gray conversion but requires that some RxP
programming is done as this feature is only available as a RxP program command.
Example: An SSI encoder is chosen using 25 bit data.
We want to sample and convert the SSI data value from register 47 and put the convert-
ed value into Register 61 (P2).
To get the actual value from the SSI encoder we use a special command 321. The new
data is placed in register 47. Now we want to convert the data from Gray-code to con-
ventional binary format.
To do this we use a Binary command instruction.
The command is 0x0C (12d)
From register 0x2F (47d)
To register 0x3D (61d)
25bits 0x19 (25d)
Reg Name Size Access Range Default Unit MacTalk name
42 HOMEMODE 16bit R/W 0,13,14 0 - Zero Search Mode
Reg Name Size Access Range Default Unit MacTalk name
46 ABSENCODER 16bit R (0-1599) 0 -
Abs. Encoder
Position
Reg Name Size Access Range Default Unit MacTalk name
47 ABSENCODERSSI 16bit R (0-1023) 0 - SSI Encoder value
Get the actual value from
the SSI encoder
Convert from b inary
TT2268GB
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