ELAP MEM440-Bus, Инструкция по эксплуатации

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MEM-BUS
EtherNet/IP™ ENCODER
Instruction Manual
ENIP_Manual_ENG 17/07/2018
16
Table 3.6 shows the supported attributes for instance 1.
INSTANCE 1, CLASS 23H
Attribute Access Name – Description Data type Value
10 Get Position Value DINT
11 Get Position Sensor Type UINT 2

Absolute encoder, multiturn
12 Get/Set Direction Counting Toggle BOOL 0

CW
1

CCW
14 Get/Set Scaling Function Control BOOL 0

Disabled
1

Enabled
16 Get/Set Measuring Units per Span UDINT
1
–
8192
17 Get/Set Total Measuring Range UDINT
1
–
536870912
19 Get/Set Preset Value DINT 0
21 Get Position Status Register
(see values of attributes 22 and 23). BYTE Bit0

Position is out of range
Bit1

Over range
Bit2

Under range
22 Get/Set Position Low Limit DINT 0 – 536870911
23 Get/Set Position High Limit DINT 0 – 536870911
24 Get Velocity Value DINT
25 Get/Set
Velocity Format
ENG UINT
1F04H

step/s (default)
1F05H

step/ms
1F0FH

turns/min
26 Get/Set Velocity Resolution UDINT 1
27 Get/Set Minimum Velocity Setpoint DINT -2147483648 – 2147483647
28 Get/Set Maximum Velocity Setpoint DINT -2147483648 – 2147483647
41 Get
Operating status of the encoder
BYTE
Bit0

Direction (0 = CW)
Bit1

Scaling (0 = Disabled)
Bit2…7

Not used
42 Get Physical Resolution Span UDINT 8192 (13 Bit )
43 Get Physical Resolution Number of Span UINT 65535
44 Get
Alarms
WORD
Bit0

Position error
Bit1

Diagnostic error
Bit2…15

Not used
45 Get Supported Alarms WORD 0003H
46 Get Alarm Flag BOOL 0

No alarms
1

Alarm / error
47 Get
Warnings
WORD
Bit4

Battery charge
Bit6

Velocity below min. value
Bit7

Max Velocity exceeded
Bit10

Position Limits exceeded
48 Get Supported Warnings WORD 04D0H
49 Get Warning Flag BOOL 0

No warnings
1

Warning
51 Get Offset Value
(calculated by the Preset function). DINT
100 Get Rotary Switches Value UINT 0…999
Table 3.6 – Instance 1 attributes, for object 23H
Attribute 10, Position Value
It is the output position value of the encoder, that is eventually modified by the scaling parameters (see
attributes 14, 16 and 17).