BASIC commands
PROGRAMMING MANUAL 75
Revision 3.0
3.2.96 ENCODER_ID
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3.2.97 ENCODER_RATIO
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3.2.98 ENCODER_READ
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Type Axis parameter (read-only)
Syntax ENCODER_ID
Description This parameter returns the ID value of an absolute encoder for the axis.
This parameter is applicable only to Flexible axis absolute Tamagawa axis
with ATYPE value 46.
It returns ENID parameter from the encoder, which is set to 17. For more
information see Tamagawa absolute encoder interface specification.
If applied to axis of ATYPE value other than 46, this parameter returns 0.
Arguments N/A
Example >>PRINT ENCODER_ID AXIS (1)
17.0000
This command will print absolute encoder ID value for axis 1.
See also AXIS, ENCODER, ENCODER_BITS.
Type Axis parameter
Syntax ENCODER_RATIO(denominator,numerator)
Description Allows the incoming encoder count to be scaled by a non integer number,
using the equation:
MPOS = (numerator)/(demoninator) x encoder edges input
Unlike the UNITS parameters, ENCODER_RATIO affects both MOVECIRC
and CAMBOX.
Note: Large ratios should be avoided as they will lead to either loss of resolu-
tion or much reduced smoothness in the motion. The actual physical encoder
count is the basic resolution of the axis and the use of this command may
reduce the ability of the Motion Controller t accurately achieve all positions.
Note: ENCODER_RATIO does not replace UNITS. Only use
ENCODER_RATIO where absolutely necessary. For all other axis scaling use
UNITS.
Arguments • denominator
A number between 0 and 16777215 that is used to define the denomina-
tor in the above equation.
• numerator
A number between 0 and 16777215 that is used to define the numerator
in the above equation.
Example ENCODER_RATIO(8192,7200)
UNITS=20
A rotary table has a servo motor connected directly to its centre of rotation. An
encoder is mounted to the rear of the servo motor and returns a value of 8192
counts per rev. The application requires the table to be calibrated in degrees,
but so that one degree is an integer number of counts.
See also N/A
Type Axis command
Syntax ENCODER_READ(address)
Description The ENCODER_READ command is applicable only to Flexible axis absolute
EnDat axis with ATYPE value 47. The parameter returns a 16-bit encoder
parameter stored at specified address. Bits 8 -15 of the address are the EnDat
MRS field settings and bits 0 - 7 are the offset within the EnDat MRS block. If
a CRC error occurs, this command will return -1. For more information see
EnDat absolute encoder interface specification.
Arguments • address
Specifies the EnDat MRS field to read.
Example VR(100) = ENCODER_READ($A10D) AXIS(7)
This command will read the number of encoder bits and put that value in
VR(10) memory location.
See also AXIS, ENCODER, ENCODER_BITS.
I52E-EN-03.book Seite 75 Freitag, 29. Juni 2007 11:55 11
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