Reliance electric S-ABS II Card, Инструкция по эксплуатации

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4-1
Programming
C
HAPTER
4
Programming
This chapter describes organization of registers of the PSC5000 Serial Absolute
Encoder Input Card (S-ABS II) and the methods to define the registers.
4.1 Organization of Registers
The S-ABS II Card has five registers, consisting of one absolute position data
register for each channel (total three registers), one error status register, and one
register to set forcibly turning off LED. Table 4.1 shows these registers.
Table 4.1 - Registers in the S-ABS II Card
Register
Number
0
2
4
6
7
Contents of Register
Absolute position data of
Channel 1 (32-bit data)
Absolute position data of
Channel 2 (32-bit data)
Absolute position data of
Channel 3 (32-bit data)
Error Status
Setting to forcibly turn off
LED
Read/Write
of Register
Read only
Read only
Read only
Read only
Write only
Method to Define Register
Define by the IODEF statement as a double integer number
(!) or by the HIODEF statement as a real number.
Define by the IODEF statement as a double integer number
(!) or by the HIODEF statement as a real number.
Define by the IODEF statement as a double integer number
(!) or by the HIODEF statement as a real number.
Define by the IODEF statement as a single integer number
(%) or a boolean number (@).
Define by the IODEF statement as a single integer number
(%)
The following sections describe the bit organization of these registers.
4.1.1 Registers 0, 2 and 4 Containing Absolute Position Data
The data contained in the registers 0, 2 and 4 consists of data for less than one
revolution and data for revolution number of one revolution or more. The data for
less than one revolution exists in the lower 11 bits (Bit 0 to Bit 10), and is an angle
data expressed by equally dividing one revolution of the encoder shaft to 2048 parts.
The upper 12 bits higher than Bit 10 (Bit 11 to Bit 22) show the data for revolution
number of one revolution or more and count revolution number of the encoder shaft.
Bits 23 to 31 show the same value, and express the polarity (positive or negative) of
the output data.
The range of the absolute position data is from -2
23
to +2
23
- 1 (from
-8388608 to 8388607). This range corresponds to -2
12
to +2
12
- 1 (-4096 to 4095)
revolutions, based on the reset (initialized) status.