AMCI NR60E2, User Manual

Page: 86 / 98

PROFINET C
YCLIC
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ATA
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ORMATS
PROFINET Protocol
ADVANCED MICRO CONTROLS INC.
86
Position Data Formats
The NR60E2 uses the G1_XIST1, G1_XIST2, and G1_XIST3 signals to transmit position data. The data for-
mats are shown as right-aligned. This implies that parameters 979.3 and 979.4, the “Shift factors” for
G1_XIST1 and G1_XIST2, are both equal to 0. The NR60E2 is an absolute encoder that does not offer signal
period interpolation. If p979.3 or p979.4 are non-zero, the NR60E2 will transmit zeros in the least significant
bits of the position data. The formats below assume the NR60E2 is configured for its maximum resolution
and maximum number of turns.
G1_XIST1and G1_XIST3
The G1_XIST1 and G1_XIST3 signals will contain the absolute position from the NR60E2 under normal
conditions. It is a thirty-two bit value. By default, the G1_XIST1 is right aligned. (p979.3 equals zero.) The
G1_XIST3 is always right aligned. The figure below shows the maximum number of bits used. In the
G1_XIST3 signal, bits 63 through 32 are always zero. The programmed Measuring Units per Revolution
(MUR) and Total Measurement Range (TMR) parameters will affect the number of bits used.
Figure R7.5 G1_XIST1 Data Format
G1_XIST2
If G1_STW.13, Request absolute value cyclically , is set to “1”, G1_XIST2 transmits the absolute position
value of the NR60E2, under normal operating conditions. The position is a thirty-two bit value. By default, it
is right aligned. (p979.4 equals zero.) The figure below shows the maximum number of bits used. The pro-
grammed Measuring Units per Revolution (MUR) and Total Measurement Range (TMR) parameters will
affect the number of bits used. If there is a sensor error, the NR60E2 will report a diagnostic code in
G1_XIST2. The G1_ZSW status word contains the bits that specify the data transmitted in G1_XIST2.
Figure R7.6 G1_XIST2 Data Format
Velocity Data Format
The NR60E2 uses the NIST_A and NIST_B signals to transmit velocity data. The NIST_A signal has a six-
teen bit format and the NIST_B signal has a thirty-two bit format. Both signals are right aligned.
Bit
31
Bit
15
Bit
30
Bit
14
Bit
29
Bit
13
Bit
28
Bit
12
Bit
27
Bit
11
Bit
26
Bit
10
Bit
25
Bit
9
Bit
24
Bit
8
Bit
23
Bit
7
Bit
22
Bit
6
Bit
21
Bit
5
Bit
20
Bit
4
Bit
19
Bit
3
Bit
18
Bit
2
Bit
17
Bit
1
Bit
16
Bit
0
R
0 0 0 0 0 0 0 0
0 0
0
0 0 0 0 0 0 0 0
0 0
0 R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
Single Turn NR60 (16 bit max.)
Multi-turn NR60 (28 bit max.)
Multi-turn NR60 (30 bit max.)
“P” “R”
= Position within Turn = Number of Revolutions
Bit
31
Bit
15
Bit
30
Bit
14
Bit
29
Bit
13
Bit
28
Bit
12
Bit
27
Bit
11
Bit
26
Bit
10
Bit
25
Bit
9
Bit
24
Bit
8
Bit
23
Bit
7
Bit
22
Bit
6
Bit
21
Bit
5
Bit
20
Bit
4
Bit
19
Bit
3
Bit
18
Bit
2
Bit
17
Bit
1
Bit
16
Bit
0
R
0 0 0 0 0 0 0 0
0 0
0
0
0 0 0 0 0 0 0 0
0 0
0
0 0
R
R
R
E E E E E E E E E E E E E E E E E E E E E E E E E E E E E
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
Single Turn NR60 (16 bit max.)
Multi-turn NR60 (28 bit max.)
Multi-turn NR60 (30 bit max.)
Error Code (All NR60 encoders)
Bits in G1_ZSW determine the value in G1_XIST2
If G1_ZSW.13 = 1, G1_XIST2 is the absolute position of the NR60.
If G1_ZSW.15 = 1, G1_XIST2 is an error code from the NR60.
If G1_ZSW.13 = G1_ZSW.15 = 0, data in G1_XIST2 is invalid.