Staubli CS8C, Instruction Manual

Page: 67 / 248

CS8C © Stäubli 2009 –
D28070504A
67 / 248
Chapter 5 - Integration
Note:
Each encoder has a corresponding set of digital and analog Inputs/Outputs. The name of these
Inputs/Outputs is the same for all encoders except for the first and second digits that represent
respectively the digit of the optional board (
0
to
2
) and the digit of the encoder on the board (
0
or
1
):
e01LatchSig
is the latch signal of the second encoder input on the first optional board.
Note:
In this chapter, the Inputs/Outputs names are given for the first encoder input on the first board .
Figure
. 5.9
Recovery (preset)
Encoder recovery is used to define the zero position of the joint connected to the encoder. It is necessary to begin
by configuring the encoder resolution using the
e00Counts
analog output (in encoder points per rotation, coded
on an unsigned
16
-bit integer). The resolution is saved by the system (
encoder.cfx
file).
Note:
When the encoder has moved by more than one turn, the system is able to detect its resolution
that is then written to the
e00CountsMes
analog input.
Note:
There are
4
pulses per encoder point. A
1024
-point (or
"counts"
) encoder thus has a resolution of
4096
pulses per rotation.
Recovery procedure (preset):
•
Stop the encoder at a reference position defined by the application.
•
Write the current encoder position in the
e00PrstPos
output (
Preset position
: signed
32
-bit integer).
•
Activate the
e00EnPrst (Enable preset)
output.
The current position
e00CurrPos (Current position)
then takes the value
e00PrstPos
, and the
e00EnPrst
Input/Output is deactivated.
The recovery sequence is not saved by the system; it is necessary to repeat it each time the controller is powered
up.
l a n r e t x E
1 r e d o c n e
d r a o b Z B A l a u D
d o c x -
k 1
k 1
0 2 1
d o c * x -
D N G
V 5
0 2 3 J D B U S
-
F 5 2
1 r e d o C -A
1 r e d o C -A*
1 r e d o C B -
1 r e d o C - * B
1 r e d o C Z -
1 r e d o C * Z -
D N G
1 r e d o C - V 5
0 2 3 J - 3 1
0 2 3 J - 2 1
0 2 3 J - 1 1
0 2 3 J - 0 1
0 2 3 J 9 -
0 2 3 J 8 -
0 2 3 J - 4 2
0 2 3 J - 5 2
2 r e d o C -A
2 r e d o C -A*
2 r e d o C B -
2 r e d o C - * B
2 r e d o C Z -
2 r e d o C * Z -
D N G
2 r e d o C - V 5
0 2 3 J 7 -
0 2 3 J 6 -
0 2 3 J 5 -
0 2 3 J 4 -
0 2 3 J 3 -
0 2 3 J 2 -
0 2 3 J - 5 1
0 2 3 J - 4 1
1 r e d o c n E h c t a L 0 2 3 J - 1 2
D N G 0 2 3 J - 0 2
V 5
D N G
- L 1 D O C
1 F
A m 0 5 2
s t u p n i r e d o c n E
V 5
D N G
- L 2 D O C
2 F
m 0 5 2 A
2 r e d o c n E h c t a L 0 2 3 J - 9 1
D N G 0 2 3 J - 8 1
l a n r e t x E
2 r e d o c n e
D N G
x r e d o c n E h c t a L
D N G
D N G
V 4 2 o t 2 1
D N G
V 4 2 o t 2 1