B&R Industries X20 System, User Manual

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X20 system modules • Counter modules • X20DC2395
X20 system User's Manual 3.10 819
Status of the ABR encoder
Name:
StatusABR01
The referencing status of the ABR encoder is shown in this register.
Data type Value
USINT See bit structure.
Bit structure:
Bit Description Value Information
0 - 1 Reserved 0
0
No reference pulses have occurred since the start of referenc-
ing.
2 Bit is always 1 after the first reference pulse.
1 The first reference pulse has occurred.
3 State change when referencing is complete 0 or 1
0 No reference pulses have occurred since the start of referenc-
ing.
4 Bit is always 1 after the first reference pulse.
1 The first reference pulse has occurred.
5 - 7 Continuous counter xxx Increased with each reference pulse
Examples of possible values
0b00000000 = 0x00 Referencing OFF or homing procedure already active
0b00111100 = 0x3C First reference complete, reference value applied in the "ABREncoder0" register
0bxxx11100 = 0xxB Bits 5 to 7 are changed with each reference pulse
0bxxx1x100 = 0xxx Bits changed continuously with the setting continuous referencing. With every reference pulse, the reference
value is applied to the "ABREncoder0" register
Configure ABR referencing mode
Name:
ReferenceModeABR01
The bits in this register are used to configure the reaction to the configured reference pulse.
Data type Value
USINT See bit structure.
Bit structure:
Bit Description Value Information
00 Referencing OFF
01 Single shot referencing
10 Reserved
0 - 1 Sets the referencing mode
11 Continuous referencing
2 - 5 Reserved -
6 - 7 Reserved 11 Must always be 11!
This results in the following values:
0b00000000 = 0x00 Referencing OFF
0b11000001 = 0xC1 Single shot referencing → When starting over after the referencing process is complete, the value 0x00 must
be written to start again. Wait until the "StatusABR" register also takes on the value 0x00, then the value 0xC1
can be written again.
0b11000011 = 0xC3 Continuous referencing → Referencing takes place automatically with every reference pulse