A-8-4 Gate3[I].Chan[J].Serialencdataa (Serial Encoder Data A - Omron CK3W-GC 00 Series Hardware User Manual

For R88M-1L£/-1M£ Motor Built-in Encoder
Bit Name
31 to Command
16 Code
15 to Reserve
14
13 SerialEnc-
TrigMode
12 SerialEncTri-
gEna
11 Reserve
10 SerialEnc-
DataReady
09 to Reserve
00
*1. When you clear error codes or clear multi-turn, set SerialEncTrigMode to One-shot sampling, and send
the Command Code to the encoder 8 times.
The following shows examples of general settings.
Command Code:
SerialEncTrigMode:
SerialEncTrigEna:
SerialEncDataReady:
A-8-4
Gate3[i].Chan[j].SerialEncDataA (Serial Encoder Data A)
Description Position data of serial encoder
This register is read-only. Writing is disabled.
The setting of this register depends on the serial encoder protocol.
For BiSS-C
Gate3[i].Chan[j].SerialEncDataA is used to read lower 32 bits of position data.
CK3M-series Programmable Multi-Axis Controller User's Manual Hardware (O036)
Set the Command Code to send to the encoder.
This product supports the following four Command Codes.
•
$0000 – Position data read (multi-turn 16 bits, single-turn 23 bits)
•
$00D8 – Position data (single-turn 23 bits) and error code read
• *1
$0040 – Error code clear
*1
•
$0048 – Multi-turn clear
Always set 0.
Serial trigger mode (continuous or one-shot) setting
Set whether to sample the encoder repeatedly or sample it only once.
For continuous sampling, it is sampled for each clock (phase or servo) to be set using
Gate3[i].SerialEncCtrl.
0: Continuous sampling
1: One-shot sampling
Serial trigger enable
Set whether to sample the encoder.
When SerialEncTrigMode is continuous sampling, it is sampled continuously during Se-
rialEncTrigEna = 1.
When SerialEncTrigMode is one-shot sampling, it is sampled only once at SerialEncTri-
gEna = 1. When sampling is done, SerialEncTrigEna will be 0 automatically.
0: Serial encoder trigger disable
1: Serial encoder trigger enable
Always set 0.
Serial reception status read
0: Reception in progress
1: Reception done
This bit is read-only and writing is disabled.
Always set 0.
= $0000 // Position data read
= 0 // Continuous sampling
= 1 // Serial encoder trigger enable
= 0 // Read-only and writing is disable
Function
Appendices
A
A-27