Omron CK3M Series, Hardware User Manual

Page: 267 / 288

Bit Name Function
12 SerialEncTrigEna Serial trigger enable
Set whether to sample the encoder.
When SerialEncTrigMode is continuous sampling, it is sampled continuously dur-
ing SerialEncTrigEna = 1.
When SerialEncTrigMode is one-shot sampling, it is sampled only once at Serial-
EncTrigEna = 1. When sampling is done, SerialEncTrigEna will be 0 automatically.
0: Serial encoder trigger disable
1: Serial encoder trigger enable
11 Reserve Always set 0.
10 SerialEncData-
Ready Serial reception status read
0: Reception in progress
1: Reception done
This bit is read-only and writing is disabled.
09 to
06 SerialEncStatus-
Bits [3:0] Number of status data bits setting
Set the number of bits of the status data to be sent from the encoder.
The valid setting range is from 0 to 6 (0000 to 0110).
05 to
00 SerialEncNumBits Number of encoder data bits setting
Set the number of bits of the position data to be sent from the encoder.
The valid setting range is from 12 to 40 (001100 to 101000).
The following shows examples of general settings.
CRC Mask: = $21 // When CRC polynomial expression is x6
+ x1 + 1
SerialEncTrigMode: = 0 // Continuous sampling
SerialEncTrigEna: = 1 // Serial encoder trigger enable
SerialEncDataReady: = 0 // Read-only and writing is disable
SerialEncStatusBits: = Depending on encoder // Set according to encoder specific
ations
SerialEncNumBits: = Depending on encoder // Set according to encoder specific
ations
For Endat2.2
Bit Name Function
31 Reserve Always set 0.
30 to
24 MRS_Code Set the type of additional data to be sent from the Endat2.2 encoder.
This product supports the following three MRS Codes of additional data.
•
1000010 – Position data 2 Word 1 (LSB)
•
1000011 – Position data 2 Word 2 (LSB)
•
1000100 – Position data 2 Word 3 (MSB)
Gate3[i].Chan[j].SerialEncDataB can read the set additional data.
The MRS Codes can be set when the Command Code is “111000”.
Set 0 when the Command Code is “000111”, “101010”, or “101101”.
23 to
22 Reserve Always set 0.
Appendices
A-25
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
A-8 Software Reference of Encoder Input Unit
A
A-8-3 Gate3[i].Chan[j].SerialEncCmd (Serial Encoder Command)