BASIC commands
PROGRAMMING MANUAL 74
Revision 3.0
3.2.93 ENCODER
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3.2.94 ENCODER_BITS
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3.2.95 ENCODER_CONTROL
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Type Axis parameter (read-only)
Syntax ENCODER
Description The ENCODER axis parameter contains a raw copy of the encoder.
The MPOS axis parameter contains the measured position calculated from
the ENCODER value automatically, allowing for overflows and offsets.
Arguments N/A
Example No example.
See also AXIS, MPOS.
Type Axis parameter
Syntax ENCODER_BITS = value
Description This axis parameter configures the interface for the number of encoder bits for
Flexible axis SSI and EnDat absolute encoder axes. The parameter is appli-
cable only to axes of ATYPE values 47 and 48.
When applied to Flexible axis EnDat absolute encoder axis, bits 0 - 7 of the
parameter should be set to the total number of encoder bits. Bits 8 - 14 should
be set to the number of multi-turn bits to be used.
When applied to Flexible axis SSI absolute encoder axis, bits 0 - 5 of the
parameter should be set to the number of encoder bits. Bit 6 should be 1 for
binary operation, or 0 for Gray code.
Note: If using Flexible axis absolute encoder axis, it is essential to set this
parameter for the axis before setting the ATYPE.
Arguments N/A
Example ENCODER_BITS = 25 + (256 * 12)
ATYPE = 47
In this example a 25 bit EnDat encoder is used, that has 12 bits for multi-turn
value and 13 bits per one revolution.
Example ENCODER_BITS = 12 + (64 * 1)
ATYPE = 48
In this example a 12 bit (4096 positions per revolution) SSI encoder is used,
with binary output type.
See also AXIS.
Type Axis parameter
Syntax ENCODER_CONTROL = value
Description The ENCODER_CONTROL parameter is applicable only applicable only to
Flexible axis absolute EnDat axis with ATYPE value 47. The parameter con-
trols the mode in which EnDat encoder return their position. The encoder can
be set to either cyclically return its position, of it can be set to a parameter
read/write mode. The default after initialization is cyclic position return mode.
For more information see EnDat absolute encoder interface specification.
Arguments N/A
Example ENCODER_CONTROL AXIS(1) = 0
This command sets cyclic position return mode.
Example ENCODER_CONTROL AXIS(1) = 1
This command sets parameter read/write mode.
See also AXIS, ENCODER, ENCODER_BITS.
I52E-EN-03.book Seite 74 Freitag, 29. Juni 2007 11:55 11
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