Delta Tau Geo Brick, User Manual

Page: 117 / 294

Geo Brick Drive User Manual
Pinouts and Software Setup 117
Note
With absolute serial encoders (no multi-turn data), the power-on
position format is set up for unsigned operation.
Note
The upper two fields in Ixx95 are the only relevant ones. Bits 0
through 15 are reserved and should always be set to 0.
Power-On Position scaling PLC example (for technique 2)
M162->D:$00008B ; #1 Actual position (Suggested M-Variable)
Open PLC 1 clear
I5111=100*8388608/I10 while(I5111>0) endw
; 100 msec delay
CMD“#1K“ ; Make sure motor(s) killed
I5111=100*8388608/I10 while(I5111>0) endw ; 100 msec delay
CMD“#1$*“ ; Read un-scaled absolute position
I5111=100*8388608/I10 while(I5111>0) endw ; 100 msec delay
M162=M162/32 ; Scale absolute position (shift right 5 bits)
I5111=100*8388608/I10 while(I5111>0) endw ; 100 msec delay
Dis PLC 1 ; Run once on power-up or reset
Close
Note
Some serial encoders use an external (not from the Brick) source for
power. Make sure that this power is applied prior to performing an
absolute read on power-up.