Omron CK3M Series, Руководство пользователя по оборудованию

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Motor Built-in Encoder
Bit Name Function
31 to
16 Command
Code Set the Command Code to send to the encoder.
This product supports the following four Command Codes.
•
$0000 – Position data read (multi-turn 16 bits, single-turn 23 bits)
•
$00D8 – Position data (single-turn 23 bits) and error code read
•
$0040 – Error code clear
*1
•
$0048 – Multi-turn clear
*1
15 to
14 Reserve Always set 0.
13 SerialEnc-
TrigMode 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 using
Gate3[i].SerialEncCtrl.
0: Continuous sampling
1: One-shot sampling
12 SerialEncTri-
gEna Serial trigger enable
Set whether to sample the encoder.
When SerialEncTrigMode is continuous sampling, it is sampled continuously during Se-
rialEncTrigEna = 1.
When SerialEncTrigMode is one-shot sampling, it is sampled only once at SerialEncTri-
gEna = 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 SerialEnc-
DataReady Serial reception status read
0: Reception in progress
1: Reception done
This bit is read-only and writing is disabled.
09 to
00 Reserve Always set 0.
*1. When you clear error codes or clear multi-turn, set SerialEncTrigMode to One-shot sampling , and send
the Command Code to the encoder 8 times.
The following shows examples of general settings.
Command Code: = $0000 // Position data read
SerialEncTrigMode: = 0 // Continuous sampling
SerialEncTrigEna: = 1 // Serial encoder trigger enable
SerialEncDataReady: = 0 // Read-only and writing is disable
A-8-4
Gate3[i].Chan[j].SerialEncDataA (Serial Encoder Data A)
Description Position data of serial encoder
This register is read-only. Writing is disabled.
The setting of this register depends on the serial encoder protocol.
For BiSS-C
Gate3[i].Chan[j].SerialEncDataA is used to read lower 32 bits of position data.
Appendices
A-27
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
A-8 Software Reference of Encoder Input Unit
A
A-8-4 Gate3[i].Chan[j].SerialEncDataA (Serial Encoder Data A)