Galil Motion Control DMC-40x0 Series, Command Reference Manual

Page: 73 / 280

DMC-40x0 Command Reference CE • 63
CE
FUNCTION: Configure Encoder
DESCRIPTION:
The CE command configures the encoder to the quadrature type or the pulse and direction type.
It also allows inverting the polarity of the encoders which reverses the direction of the
feedback. Note: when using a servo motor, the motor will run away. The configuration
applies independently to the main axes encoders and the auxiliary encoders.
WWhen the MT command is configured for a stepper motor, the auxiliary encoder (used to count
stepper pulses) will be forced to pulse and direction.
ARGUMENTS: CE n,n,n,n,n,n,n,n or CEA=n where
n is an integer in the range of 0 to 15. Each integer is the sum of two integers M and N which
configure the main and the auxiliary encoders. The values of M and N are
M Main encoder type N Auxiliary encoder type
0 Normal quadrature 0 Normal quadrature
1 Normal pulse and direction 4 Normal pulse and direction
2 Reversed quadrature 8 Reversed quadrature
3 Reversed pulse and direction 12 Reversed pulse and direction
For example: n = 10 implies M = 2 and N = 8, thus both encoders are reversed quadrature.
n = ? Returns the value of the encoder configuration for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 2.0
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_CEn contains the value of encoder type for the axis specified by ‘n’.
RELATED COMMANDS:
MT Specify motor type
EXAMPLES:
CE 0, 3, 6, 2 Configure encoders
CE ?,?,?,?
:0,3,6,2
Interrogate configuration
V = _CEB
V = ?
:3
Assign configuration to a variable
Note: When using pulse and direction encoders, the pulse signal is connected to CHA and the direction
signal is connected to CHB.