Manual
PGT-09-S
60
SICK STEGMANN GmbH
Subject to change without notice
7.3.2 Position Mode
In Position mode the time stamp is related to the position sampling edge of the “Vertical
Position” (absolute position). The 128 bits of a log entry in Position mode are specified as
follows:
Bit position
Width
Value range
Meaning
127 (MSB)
1
0
Escape bit
126 … 104
23
00 00 00 … 7F FF FFh Time stamp (full resolution, 13.56 ns)
103 … 96
8
00 ... FFh
Encoder error summary
95 … 56
40
00 00 00 00 00 …
FF FF FF FF FFh
Vertical Position (absolute position,
primary channel)
55 … 40
16
00 00 … FF FFh
Vertical Position CRC
39 … 0
40
00 00 00 00 00 …
FF FF FF FF FFh
Accumulated Position (incremental
position)
7.3.3 Message Mode
Please note that possibly unused fields in Message mode (e.g. data bytes or offset values) are
unknown and are to be discarded. The 128 bits of a log entry in Message mode are specified as
follows:
Bit position
Width
Value range
Meaning
127 (MSB)
1
0
Escape bit
126 … 113
14
00 00 … 3F FFh
Time stamp (reduced resolution,
6.94 µs)
112
1
0
1
Messages source: Slave
Messages source: Master
111 … 96
16
00 00 … FF FFh
Message address (remote register
address or resource identifier)
95 … 80
16
00 00 … FF FFh
Message CRC
79 … 64
16
00 00 … FF FFh
Message offset value (only for Long
Message)
63 … 0
64
00 00 00 00
00 00 00 00
…
FF FF FF FF
FF FF FF FFh
Data field of message (0, 2, 4, or 8
bytes)
Please note that in case of Short Message transfer, the Address field will contain both the
address byte and the possible data byte. The lower 80 bits of the log entry are to be discarded.
