Omron CK3M Series, Руководство пользователя по оборудованию

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Bit Name Function
21 to
16 Com-
mand_Code Set the Command Code to send to the Endat encoder.
This product supports the following four Command Codes.
000111 – Position data read
101010 – Encoder reset
111000 – Position data and additional data read
101101 – Position data and additional data read, encoder reset
15 to
14 Reserve Always set 0.
13 SerialEncTrig-
Mode Serial trigger mode (continuous or one-shot) setting
Set whether to sample the encoder repeatedly or sample it only once.
For continuous sampling, it is sampled for each clock (phase or servo) to be set us-
ing Gate3[i].SerialEncCtrl.
0: Continuous sampling
1: One-shot sampling
12 SerialEncTrigE-
na Serial trigger enable
Set whether to sample the encoder.
When SerialEncTrigMode is continuous sampling, it is sampled continuously during
SerialEncTrigEna = 1.
When SerialEncTrigMode is one-shot sampling, it is sampled only once at Serial-
EncTrigEna = 1. When sampling is done, SerialEncTrigEna will be 0 automatically.
0: Serial encoder trigger disable
1: Serial encoder trigger enable
11 Reserve Always set 0.
10 SerialEncData-
Ready Serial reception status read
0: Reception in progress
1: Reception done
This bit is read-only and writing is disabled.
09 to
06 Reserve Always set 0.
05 to
00 SerialEncNum-
Bits Number of encoder data bits setting
Set the number of bits of the position data to be sent from the encoder.
The valid setting range is from 12 to 40 (001100 to 101000).
The following shows examples of general settings.
MRS Code: = 0000000 // Additional data not set
Command Code: = 000111 // Position data read
SerialEncTrigMode: = 0 // Continuous sampling
SerialEncTrigEna: = 1 // Serial encoder trigger enable
SerialEncDataReady: = 0 // Read-only and writing is disable
SerialEncStatusBits: = Depending on encoder // Set according to encoder specific
ations
SerialEncNumBits: = Depending on encoder // Set according to encoder specific
ations
Appendices
A-26
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)