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All BASIC commands
Section 4-2
149
4-2-90 ENCODER_READ
/i
4-2-91 ENCODER_TURNS
/i
Type
Axis command
Syntax
ENCODER_READ(address)
Description
The
ENCODER_READ
command is applicable only to Flexible axis
absolute EnDat axis with
ATYPE
value 47. The parameter returns a 16-
bit encoder parameter stored at specified address. Bits 8 -15 of the
address are the EnDat MRS field settings and bits 0 - 7 are the offset
within the EnDat MRS block. If a CRC error occurs, this command will
return -1. For more information see EnDat absolute encoder interface
specification.
Arguments
•
address
Specifies the EnDat MRS field to read.
Example
VR(100) = ENCODER_READ($A10D) AXIS(7)
This command will read the number of encoder bits and put that value in
VR(100) memory location.
See also
AXIS
,
ENCODER
,
ENCODER_BITS
.
Type
Axis parameter (read-only)
Syntax
ENCODER_TURNS
Description
The
ENCODER_TURNS
parameter returns the number of multi-turn
count from the encoder.
This is applicable only to Flexible axis absolute EnDat axis with
ATYPE
value 47.
The multi-turn data is not automatically applied to the axis
MPOS
parameter after initialization. The application programmer must apply
this from the program using
OFFPOS
or
DEFPOS
commands as
required.
If applied to axis of
ATYPE
value other than 47, the parameter returns 0.
Arguments
N/A
Example
PRINT ENCODER_TURNS AXIS (1)
This command will print absolute encoder multi-turn counts for axis 1.
See also
AXIS
,
ENCODER
,
ENCODER_BITS
.
Содержание trajexia CJ1W-MCH72
Страница 69: ...Specifications Section 2 4 58...
Страница 83: ...FINS commands Section 3 4 72...
Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
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Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
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