X20 system modules • Counter modules • X20CM1941
652
X20 system User's Manual 3.10
4.11.2.10.5 Current encoder position
Name:
Position
The current angle position of the resolver is shown in this register. The value consists of:
•
The two upper bytes, which correspond to the number of rotations counted from -32768 (0x8000xxxx) to
+32767 (0x7FFFxxxx)
•
The two lower bytes, which correspond to the angle position within the current rotation 1 LSB = 360° / 65536
The position value can, however, be interpreted exactly as an individual 32-bit long angle with resolution 1 / 65536
* 360°.
Data type
Value
Information
0x0000xxxx to 0xFFFFxxxx
Number of rotations (cyclic)
DINT
0xxxxx0000 to 0xxxxxFFFF
Angle position within the current rotation
Example
0x7FFF0080 corresponds to 32767 rotations, and 128 / 65536 * 360 = 0.703°.
4.11.2.10.6 Connection status
Name:
StatusInput
This register shows a potential open line between the module and the encoder.
Data type
Value
USINT
See bit structure.
Bit structure:
Bit
Description
Value
Information
0
No open line
0
Open line
1
Open line
1- 7
Reserved
-
4.11.2.10.7 Minimum cycle time
The minimum cycle time defines how far the bus cycle can be reduced without communication errors occurring.
It should be noted that very fast cycles decrease the idle time available for handling monitoring, diagnostics and
acyclic commands.
Minimum cycle time
100 μs
4.11.2.10.8 Minimum I/O update time
The minimum I/O update time defines how far the bus cycle can be reduced while still allowing an I/O update to
take place in each cycle.
Minimum I/O update time
200 µs
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