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

Chapter 12 Absolute System

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.
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.
Explanation:
Check Sum = (((((((WORD_0+0xA700) XOR WORD_1)+0x605A) XOR WORD_2)+0x30A5) XOR
WORD_3)+0x5A06)
Note:
1. This algorithm has no plus or minus sign.
2. 0xA700, 0x605A, 0x30A5 and 0x50A6 are the constans 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)
Revision February, 2017
ASDA-A2
12-19