R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
ENC_ID15:8
Bit 15 Bit 8
Register 0Fh: Encoder ID, byte 0
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
ENC_ID7:0
Bit 7 Bit 0
Bit 23 Not implemented: Read as "0".
Bit 22-20 SCI: Indication of special characters
3 bit special character for later enhancements of the encoder designation code. Not
allocated.
Bit 19-0
ENC_ID: Encoder designation code
Designation of the motor feedback system (length: 20 bits)
The individual ENC_ID register bits are allocated as follows:
Bit 19 Continue: In High status, Continue indicates that ENC_ID is longer than 20 bits (for
future use).
Bit 18 to 16 Reserved: Read as "0".
Bit 15 to 12 User defined encoder index: 4 bit value (0 to 15) for user- defined encoder index (see
chapter 8.8.7).
Bit 11
Reserved: Read as "0".
Bit 10 Sign: In High status, Sign indicates that the position value is signed, in Low status, Sign
indicates that the position value is not signed.
Bit 9 to 4
#Pos-#Acc: Length of position information (standard value: 40 bits) minus length of the
acceleration value transmitted (see chapter 6.3.12, standard value: 11 bits).
Bit 3 to 0 #Acc-8: Length of the acceleration value transmitted (standard value: 11 bits) minus 8.
6.3.12 Fast position
The POS registers for the fast position contain the value of the motor feedback system
connected. This position is generated incrementally from the safe position at start-up
and is updated with every protocol frame.
After every eight protocol frames, the fast position is checked against the safe position
(see under registers 18h to 1Ch).
The position sampling point is determined by the ES value of the synchronization con‐
trol register.
Only those POS bits are activated that lie within the range that the motor feedback sys‐
tem has actually measured. All other higher value bits are read as "0". The number of
measurable bits can be taken from ENC_ID bits 9 to 0 in the ENC_ID0 to 2 registers.
If Sign is set in the ENC_ID register, the value of the fast position is given signed in the
two's complement.
The units of the position value are (steps). These registers are write protected.
CAUTION
The fast position must not be used for safety functions.
6 REGISTER MAP
44
T E C H N I C A L I N F O R M A T I O N | HIPERFACE DSL
®
8017595/ZTW6/2018-01-15 | SICK
Subject to change without notice
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