Omron CK3M Series, Hardware User Manual

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
For Command Code = 000111 or 101010
Bit Name Function
31 Timeout error Shows the status of the timeout error.
0: No error
1: Timeout error
30 CRC error Shows the status of the CRC error.
0: No error
1: CRC error
29 Error bit Shows the error bit sent from the encoder.
For details on the error bit, refer to the encoder specifications.
28 to 8 Reserve
0 to 7
Position data Upper 8 bits of position data

For Command Code = 111000 or 101101
In this Command Code, a frame is divided into two, position data and additional data 1, therefore,
there are two CRC errors. Additionally, for the error bit, it is possible to show two bits.
Bit Name Function
31 Timeout error Shows the status of the timeout error.
0: No error
1: Timeout error
30 CRC error P Shows the status of the CRC error of position data frame.
0: No error
1: CRC error
29 CRC error 1 Shows the status of the CRC error of additional data 1 frame.
0: No error
1: CRC error
28 Reserve
27 Error bit 1 Shows the error bit 1 sent from the encoder.
For details on the error bit 1, refer to the encoder specifications.
26 Error bit 2 Shows the error bit 2 sent from the encoder.
For details on the error bit 2, refer to the encoder specifications.
25 to 24 Reserve
23
WRN Shows the WRN bit sent from the encoder.
For details on the WRN bit, refer to the encoder specifications.
22 RM Shows the RM bit sent from the encoder.
For details on the RM bit, refer to the encoder specifications.
21 Busy Shows the Busy bit sent from the encoder.
For details on the Busy bit, refer to the encoder specifications.
20 to 16 MRS Acknowl-
edge
Shows the MRS code set in the encoder.
Check that it is the same as the sent MRS code, and then read additional data.
0 to 15 Additional data The additional data set in MRS code is stored.
For R88M-1L
£
/-1M
£
Motor Built-in Encoder
Gate3[i].Chan[j].SerialEncDataB is used to read a communications error, additional data, and upper 7
bits of multi-turn position data.
Appendices
A-29
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
A-8 Software Reference of Encoder Input Unit
A
A-8-5 Gate3[i].Chan[j].SerialEncDataB (Serial Encoder Data B)