Xinje DS5K Series, Руководство пользователя, Страница: 85 / 194

Because it can only rotate in one direction, after a certain period of time, the number of revolving
cycles will always exceed the upper limit of absolute value encoder.
Servo motor
series
Resolution
(single-circle
data)
Rotating Circle
Serial Data
Output range
Operation of overtime
CM/T 17
-32768~32767
When it is higher than the upper limit value
in the forward direction (+32767*2^ 17):
Rotation serial data = 32767*2^17
When it is below the lower limit of reversal
direction (-32768*2^ 17):
Rotation Serial Data=-32767*2^17
TL 23
When it is higher than the upper limit value
in the forward direction (+32767*2^23):
Rotation serial data = 32767*2^23
When it is below the lower limit of reversal
direction (-32768*2^ 23):
Rotation Serial Data=-32767*2^23
5.6.4 Read absolute position through communication
Basic parameters
User
parameter Name Use
U0-10
encoder feedback value
Absolute value single-turn position, read 0x100A and
0x100B hexadecimal address through Modbus RTU,
U0-10+ U0-11*10000 is present encoder single-turn
position
U0-11
U0-91
present turns of multi-turn
absolute Read 0x105B hex address through ModbusRTU, which
is the current number of encoder turns;
U0-57
absolute encoder present
position feedback low 32-bit
Read 0x1039 hex address through ModbusRTU
doubleword, which is the current encoder position, with
positive and negative pulses;
U0-58
U0-59
absolute encoder present
position feedback high 32-bit
Read 0x103B hexadecimal address through
ModbusRTU doubleword, which is the high bit of
current encoder and needs to add the low bit data;
U0-60
Servo driver transmits position data information of encoder through RS485 port and Modbus RTU
protocol.

17-bit absolute value encoder has 131072 pulses per cycle.
First read the U0-60 (0x103C) value
(1) 0 means running in the positive direction. The current position of the encoder is
U0-57*1+U0-58*2^16.