Example Of Hiperface Transfer: Delete Data Field; Sc.endat - Emerson unidrive sp User Manual

Menu 3 Parameter Keypad and
All modes structure display

Example of Hiperface transfer: Delete data field

Transfer the "delete data field" message to the encoder comms buffer by writing the sequence of words shown in the table below to Pr 90.22. A check
should be carried out before each word is written to ensure that the parameter is zero (i.e. the drive has taken any previous data).
Bit 15 Bit 14
0xa0ff 1
0x804d 1
0x8002 1
0x8065 1
0x8055 1
The response from the encoder is a follows.
Bit 15 Bit 14
0x8040 1
0x8042 1
0x8003 1
0x8059 1
0x8063 1

SC.EnDat

The Heidenhain EnDat protocol is a synchronous protocol using the following command message format (drive to encoder).
st
Command
1 byte
Address
Data (LSB)
th
Data (MSB)
4 byte
The following commands are supported:
Code Command
0x00 Encoder to send position
0x01 Selection of memory area
0x03 Encoder to receive parameter
0x04 Encoder to send parameter
0x05 Encoder to receive reset
The following is an example of the response when the Encoder to send position command is used (encoder to drive).
LS byte
MS byte
The example shown above is for an encoder with 12 bits representing the turns and 13 bits representing the position within a turn. The position
command only requires one byte to be sent to the encoder. Bits 14 and 13 can both be set in the transmit register if required to indicate that this is
both the first and last byte of the message.
If any other command is used then the response is as follows (encoder to drive).
Address
Data (LSB)
Data (MSB)
Example of EnDat transfer: Read position
Disable drive encoder position check by setting Pr 90.21 to one. This should be set back to zero at the end of the transfer if encoder position checking
is required.
80
Parameter Parameter
x.00 description format
Bit 13 Data
0 1 0xff Broadcast message so address = 0xff
0 0 0x4d Create data field command
0 0 0x02 Data field 2
Status of data existing data field 2 with bit 7
0 0 0x65
set to zero
1 0 0x55 Code for data field at default of 0x55
Bit 13 Data
0 0 0x40 Encoder address
0 0 0x4d Create data field command
0 0 0x02 Data field 2
0 0 0x65 Status of the data field before delete
1 0 0x78 Checksum
Address
Don't care
MRS code
Address
Address
Don't care
st
1 byte
th
8 byte
st
1 byte
rd
3 byte
www.controltechniques.com
Advanced parameter
Macros
descriptions
Data
Don't care
Don't care
Data
Don't care
Don't care
Bits 7-0 = 0
Bits 7-0 = 0
Bits 7-0 = 0
Bits 7-0 = 0
Bits 5-0 = 0
Bit 6 = Alarm bit
Bit 7 = Bit 0 of position
Bits 7-0 = Bits 8-1 of position
Bits 3-0 = Bits 12-9 of position
Bits 7-4 = Bits 3-0 of turns
Bits 7-0 = Bits 11-4 of turns
Serial comms Electronic
Performance RFC mode
protocol nameplate
Unidrive SP Advanced User Guide
Issue Number: 10