Lika EM58 MB, User Manual

Page: 73 / 92

ES58 • EM58 MODBUS®
Code sequence
bit 1 The
Code sequence
command is intended to set whether
the encoder position value increases (count up information)
when the shaft is rotating clockwise (CW) or when the shaft
is rotating counter-clockwise (CCW). CW and CCW rotations
are viewed from the shaft end. Setting 0 (
Code sequence
bit 1 = 0) causes the encoder position value to increase
when the shaft is rotating clockwise; setting 1 (
Code
sequence
bit 1 = 1) causes the encoder position value to
increase when the shaft is rotating counter-clockwise.
The value that is currently set can be read in the
Counting
direction
bit 1 of the
Status word [000A hex]
, see on
page 80.
WARNING
Changing this value causes also the position calculated by
the controller to be necessarily affected. Therefore it is
mandatory to check and, if necessary, to execute a new
preset (see the
Preset value [0004-0005 hex]
registers)
and finally save the parameters.
bit 2 … 7 Not used.
Byte 1
Not used.
Control Word [0009 hex]
[Register 10, Unsigned16, rw]
This variable contains the commands to be sent to the Slave in real time in order
to manage it.
Byte structure of the
Control Word [0009 hex]
register:
byte MSB LSB
bit 15 … 8 7 … 0
msb lsb msb lsb
Byte 0
Not used.
Byte 1
MAN ESx58x_EMx58x MB E 1.3 Programming parameters 73 of 92