Page 90
M4220170607EN
UI Robot Technology Co. Ltd.
UIM2842
30.
QECη Set desired quadrature encoder’s position
Format:
QECη;
Description:
Set desired encoder position to η
η = - 2,000,000,000…-1, 0, 1 … + 2,000,000,000
。
ACK:
AA [Controller ID] B8 [Q0] [Q1] [Q2] [Q3] [Q4] FF
Comment:
B8
>> Message ID of desired encoder position;
[Q0] ~ [Q4]
>> Received data 0 ~ 4
[Q0] ~ [Q4] is the converted value for desired encoder position. (32 bits)
(Figure 12-2)
Note:
The encoder counter records encoder pulses.
When the direction is positive, the counter increases; when the direction
is negative, the counter decreases. When ICFG.CW = 0, consider
clockwise as forword direction; when ICFG.CW = 1, consider
anticlockwise as forword direction.
Encoder counter can only be reset/cleared under following situations:
--
Commanded by user instruction ORG
--
User preset sensor ORG event happens
Please also be aware:
--
Power Failure Protection.
Should a Power Failure situation happen, the
value of the encoder counter will be pushed into EEPROM and restored
when reboot next time. However, passive movement after power off
cannot be recorded.
--
For every slot, the encoder counter records 4 pulses. E.g., when
QEC=500, the encoder counter records 500*4 = 2000 pulses each turn.
