LS-221-BL Technical Reference
Doc. #710220125
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R/W access
D7
D6
D5
D4
D3
D2
D1
D0
Base Addr + 0x404
Read
APE D7 APE D6 APE D5 APE D4 APE D3 APE D2 APE D1 APE D0
Base Addr + 0x405
Read
APE D15 APE D14 APE D13 APE D12 APE D11 APE D10 APE D9 APE D8
Base Addr + 0x406
Read
APE D23 APE D22 APE D21 APE D20 APE D19 APE D18
D17
APE D16
Base Addr + 0x407
Read
APE RDY
BE
OF
OS
BA
PS
CE
Table 18: APE data & status registers
T h e fo llo w in g is a b rie f d e s c rip tio n o f th e a b b re v ia tio n s u s e d in T a b le 1 8 . F o r m o re
in fo rm a tio n p le a s e re fe r to T a m a g a w a S A 3 5 /5 6 -1 1 /2 4 b it-L P S -5 V d a ta s h e e t.
APE RDY
APE ready flag. If READY=1, data and status are valid. If READY=0, data acquiring is in
progress.
APE D23
÷
D0
Absolute position encoder data
CE
Counter error status
PS
Pre-load status
BA
Battery alarm
OS
Over-speed
OF
Over-flow
BE
Battery error
S A 3 5 /5 6 n e e d s re s e t a fte r b e in g d is c o n n e c te d o r to c le a r a n e rro r (i.e . o v e r-s p e e d , o v e r-
flo w ). T o re s e t e n c o d e r, lo g ic o n e s h o u ld b e w ritte n to th e c o rre s p o n d in g c o n tro l b it. S A 3 5 /5 6
re q u ire s re s e t s ig n a l to b e h e ld fo r a t le a s t 4
÷
5 s e c . T o e n a b le S A 3 5 /5 6 , lo g ic z e ro s h o u ld b e
w ritte n to th e s a m e c o n tro l b it.
R/W access
D7
D6
D5
D4
D3
D2
D1
D0
Base Addr + 0xE
Write
PCS3
PCS2
PCS1
PCS0
RES
Table 19: APE reset control bit
T a m a g a w a S A 3 5 /5 6 m u lti-tu rn a b s o lu te e n c o d e r re q u ire s a s m a ll e x te rn a l b a tte ry to k e e p
tra c k o f m o to r p o s itio n w h e n th e m a in p o w e r is o ff. A fu lly c h a rg e d L S -4 2 1 -2 1 1 2 o n -b o a rd
b a tte ry is c a p a b le to p o w e r tw o S A 3 5 e n c o d e rs fo r m in 3 0 0 h o u rs . D u rin g th e n o rm a l o p e ra tio n
th e b a tte ry is a u to m a tic a lly re c h a rg e d .
