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Omron TJ2-MC64 - PROGRAMMING User Manual

Omron TJ2-MC64 - PROGRAMMING
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BASIC commands
PROGRAMMING MANUAL 90
Revision 1.0
3.2.101 ELSE
See IF..THEN..ELSE..ENDIF.
3.2.102 ELSEIF
See IF..THEN..ELSE..ENDIF.
3.2.103 ENCODER
/i
3.2.104 ENCODER_BITS
/i
Arguments parameter
The number of the parameter to write to. Note that the parameter num-
bers are hexadecimal. The format of the data can be found in the Refer to
the Servo Drive manual for the format of the data.
size
SIze of the parameter is specified in bytes. For most parameters the size
is normally 2 bytes. Some special parameters may be 4 bytes long. Sizes
for each parameter can be found in the Servo Drive manual.
value
The value to be written into Drive parameter.
mode
The write mode. Possible values: 0 (or omitted) - write and store in RAM;
1 - write and store in EPROM.
Example IF DRIVE_WRITE($100,2,90) THEN
PRINT "The new speed loop gain is: 90"
ELSE
PRINT "The speed loop gain could not be written in RAM"
ENDIF
See also DRIVE_READ, DRIVE_RESET, $ (HEXADECIMAL INPUT)
Caution
Be sure that no Parameter Unit or Personal Computer Software is
connected to the Servo Drive when executing this command. Oth-
erwise the program task will be paused until the connection of the
other device to the Servo Drive is removed.
Type Axis parameter (read-only)
Syntax ENCODER
Description The ENCODER axis parameter contains a raw copy of the encoder hardware
register or the raw data received from the drive via MECHATROLINK-II. On
axes with absolute encoders, the ENCODER parameter contains a value
using a number of bits programmed with ENCODER_BITS.
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.
For SSI encoders of the “Balluff” brand bits 8..10 allow an additional hardware
shift to be specified. Normally bits 8..10 are 0.
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

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Omron TJ2-MC64 - PROGRAMMING Specifications

General IconGeneral
BrandOmron
ModelTJ2-MC64 - PROGRAMMING
CategoryController
LanguageEnglish

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