JVL MIS17 Series, Руководство пользователя

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204 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
8.2 Internal registers
8.2.37 Absolute encoder position
Description: If one of the encoder options are present in the motor this register monitors the
position value. The value are shown in 2 different formats depending on which
encoder option that is present.
H2 encoder option:
The register contains the absolute single turn position shown in the range 0-409500
counts.
H3+H4 encoder option:
The register contains the absolute multi turn position for the whole 32 bit signed range.
8.2.38 EXTENCODER2
Description: This is the actual encoder position data received from the external SSI encoder.
Some SSI encoders output Gray coded values. The firmware offers the possibility to do
the Gray code to binary conversion before updating the EXTENCODER2 register with
the actual position.
Example: An SSI encoder outputs the position in binary.
We want to sample, and update the EXTENCODER2 register 47 without any conver-
sion. This can be done by use command 321.
If the SSI encoder outputs the position in Gray code, the value can be converted to binary
before updating the EXTENCODER2 register by using command 322 instead.
For further description of the external encoder interface using SSI format please consult
The SSI interface principle of operation. , page 121
8.2.39 FlexRegister
Description: A register that can be set up to contain different bits from several registers. 16 bits
are available. See also
Flexible Register setup
, page 297 .
Reg Name Size Access Range Default Unit MacTalk name
46 ABSENCODER 32bit R
H2 (0-409500)
H3 ((2
31
)-((2
31)-1
)
H4 ((2
31
)-((2
31)-1
)
0 -
Absolute Encoder
Position
Reg Name Size Access Range Default Unit MacTalk name
47 EXTENCODER2 32bit R
(-2
31
)-(2
31
-1)
0 - SSI Encoder Value
Reg Name Size Access Range Default Unit MacTalk name
48 FlexRegister 32bit R
(-2
15
)-(2
15
-1)
0 -