Moog SmartMotor, Руководство разработчика

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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 471 of 909
I(enc)
Index, Rising-Edge Position
APPLICATION: I/O control
DESCRIPTION: Encoder value latched by rising-edge, hardware-index capture
EXECUTION: Immediate
CONDITIONAL TO: Index previously captured
LIMITATIONS: N/A
READ/REPORT: RI(enc)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: Input: 0 or 1
Output: -2147483648 to 2147483647
TYPICAL VALUES: Input: 0 or 1
Output: -2147483648 to 2147483647
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: RI(0):3, x=I(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
I (capital i) is the function that stores the last hardware-latched, rising-edge encoder index
position. It can be read from a host with the RI(arg) command, or it can be read by the
program with a line such as a=I(arg). The value of enc determines which encoder is being
referred:
l
I(0) reads the internal encoder captured count
l
I(1) reads the external encoder captured count
The index capture must first be armed with the Ai, Aij or Aji command before a capture
occurs. The Bi(arg) command can be used to detect the capture event (due to encoder index
or input signal). These capture events can also be detected by status bits in status word 1.
The index is a physical reference mark on the encoder. It is also referred to as a Z pulse,
marker pulse, and sometimes a combination of those names. It is typically used in homing
sequences requiring a high degree of repeatability.
Class 5.x and later firmware has the ability to redirect port 6 to the Index register input
trigger, which allows high-speed position capture through port 6. The internal or external
encoder can use this source through the EIRI and EIRE commands, respectively. When using
this method, the previously-stated rules for arming and clearing the index still apply.
Part 2: Commands: I(enc)