Omron trajexia CJ1W-MCH72, Operation Manual

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All BASIC commands Section 4-2
149
4-2-90 ENCODER_READ
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4-2-91 ENCODER_TURNS
/i
Type Axis command
Syntax ENCODER_READ(address)
Description The ENCODER_READ command is applicable only to Flexible axis
absolute EnDat axis with ATYPE value 47. The parameter returns a 16-
bit encoder parameter stored at specified address. Bits 8 -15 of the
address are the EnDat MRS field settings and bits 0 - 7 are the offset
within the EnDat MRS block. If a CRC error occurs, this command will
return -1. For more information see EnDat absolute encoder interface
specification.
Arguments • address
Specifies the EnDat MRS field to read.
Example VR(100) = ENCODER_READ($A10D) AXIS(7)
This command will read the number of encoder bits and put that value in
VR(100) memory location.
See also AXIS , ENCODER , ENCODER_BITS .
Type Axis parameter (read-only)
Syntax ENCODER_TURNS
Description The ENCODER_TURNS parameter returns the number of multi-turn
count from the encoder.
This is applicable only to Flexible axis absolute EnDat axis with
ATYPE
value 47.
The multi-turn data is not automatically applied to the axis
MPOS
parameter after initialization. The application programmer must apply
this from the program using
OFFPOS or DEFPOS commands as
required.
If applied to axis of
ATYPE value other than 47, the parameter returns 0.
Arguments N/A
Example PRINT ENCODER_TURNS AXIS (1)
This command will print absolute encoder multi-turn counts for axis 1.
See also AXIS , ENCODER , ENCODER_BITS .