Use Digital Inputs/Outputs To Read The Absolute Coordinate Data - Delta ASD-A2-0121 Series User Manual

ASDA-A2

12.3.6 Use Digital Inputs/Outputs to Read the Absolute Coordinate Data

When Bit 0 is 0 in P2-70, the PUU number can be read by using digital inputs and outputs.
The frame is as below.
Bit 79 ~ Bit 64
Check Sum
When Bit 0 is 1 in P2-70, the PULSE number can be read by using digital inputs and outputs.
The frame is as below.
Bit 79 ~ Bit 64
Check Sum
Explanation:
Check Sum = (((((((WORD_0+0xA700) XOR WORD_1)+0x605A) XOR WORD_2)+0x30A5) XOR
WORD_3)+0x5A06)
WORD_0
+
0xA700
Note:
1. This algorithm has no plus or minus sign.
2. 0xA700, 0x605A, 0x30A5, and 0x50A6 are the constants of hexadecimal.
3. WORD_0: encoder status (Bit 15 ~ 0)
WORD_1: encoder turn (Bit 31 ~ 16)
WORD_2: encoder pulse (Bit 47 ~ 32)
WORD_3: encoder pulse (Bit 63 ~ 48)
12-20
Bit 63 ~ Bit 32
Encoder PUU
-2147483648 - 2147483647
Bit 63 ~ Bit 32
Pulse within one turn
0 ~ 1279999 (= 1280000-1)
WORD_1
WORD_2
XOR
+
0x605A
Bit 31 ~ Bit 16
Bit 31 ~ Bit 16
Encoder turn
-32768 ~ +32767
WORD_3
XOR XOR
+
0x30A5
Chapter 12 Absolute System
Bit 15 ~ Bit 0
Encoder status,
0
P0-50
Bit 15 ~ Bit 0
Encoder status,
P0-50
+
output
0x5A06