Omron trajexia CJ1W-MCH72 Operation Manual page 158

All BASIC commands
4-2-87 ENCODER_BITS
4-2-88 ENCODER_CONTROL
/i
Type Axis parameter
Syntax ENCODER_BITS = value
Description This axis parameter configures the interface for the number of encoder
bits for Flexible axis SSI and EnDat absolute encoder axes. The param-
eter is applicable only to axes of ATYPE values 47 and 48.
When applied to Flexible axis EnDat absolute encoder axis, bits 0 - 7 of
the parameter should be set to the total number of encoder bits. Bits 8 -
14 should be set to the number of multi-turn bits to be used.
When applied to Flexible axis SSI absolute encoder axis, bits 0 - 5 of
the parameter should be set to the number of encoder bits. Bit 6 should
be 1 for binary operation, or 0 for Gray code.
For SSI encoders of the "Balluff" brand bits 8..10 allow an additional
hardware shift to be specified. Normally bits 8..10 are 0.
Note: If using Flexible axis absolute encoder axis, it is essential to set
this parameter for the axis before setting the ATYPE.
Arguments N/A
Example ENCODER_BITS = 25 + (256 * 12)
ATYPE = 47
In this example a 25 bit EnDat encoder is used, that has 12 bits for
multi-turn value and 13 bits per one revolution.
Example ENCODER_BITS = 12 + (64 * 1)
ATYPE = 48
In this example a 12 bit (4096 positions per revolution) SSI encoder is
used, with binary output type.
See also AXIS.
/i
Type Axis parameter
Syntax ENCODER_CONTROL = value
Description The ENCODER_CONTROL parameter is applicable only to Flexible
axis absolute EnDat axis with ATYPE value 47. The parameter controls
the mode in which EnDat encoder return its position. The encoder can
be set to either cyclically return its position, or it can be set to a parame-
ter read/write mode. The default after initialization is cyclic position
return mode. For more information see EnDat absolute encoder inter-
face specification.
Arguments N/A
Example ENCODER_CONTROL AXIS(1) = 0
This command sets cyclic position return mode.
Example ENCODER_CONTROL AXIS(1) = 1
This command sets parameter read/write mode.
See also AXIS, ENCODER, ENCODER_BITS.
Section 4-2
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