Emerson SI-Universal User Manual page 124

Hiperface
Up to 15 bytes of data can be written to the buffer. The first byte should be the encoder address.
The checksum will be calculated by the drive and added to the end of the message before the
message is transmitted to the encoder. The drive checks the checksum of the received message.
If successfully received, the receive message can be read via the receive register including the
address and the checksum received from the encoder. It should be noted that the encoder must be
set up for 9600 baud, 1 start bit, 1 stop bit and even parity (default set-up) for the encoder comms to
operate with the drive. Also the data block security should not be enabled in the encoder if the drive
encoder nameplate system is to operate correctly. See the Hiperface specification for details of the
comms message format.
The following commands are supported:
Code
0x42 Read position
0x43 Set position
0x44 Read analog value
0x46 Read counter
0x47 Increment counter
0x49 Clear counter
0x4a Read data (maximum of 10 bytes)
0x4b Store data (maximum of 9 bytes)
0x4c Data field status
0x4d Create a data field
0x4e Available memory
0x50 Read encoder status
0x52 Read type
0x53 Reset encoder
SC EnDat
Up to 4 bytes can be written to the buffer in the following format:
Byte 0
Command
The following commands are supported:
Code
0x07 Encoder to send position value
0x0E Selection of memory area
0x1C Encoder to receive parameter
0x23 Encoder to send parameter
0x2A Encoder to receive reset
The message from the encoder contains a CRC which is checked. If there are no errors in the
message the message is put into the comms buffer. If the position is requested it is shifted into the
buffer locations from the right as shown below. The message shown contains the maximum number
of bits (48).
If less position data is available the result, including the error bit, is shifted right accordingly and the
leading bits are set to zero.
124
Address
Command
Command
Data (MSB)
Address Data (MSB)
Any Any
MRS code Any
Address Data (MSB)
Address Any
Any Any
SI-Universal Encoder User Guide
Data (LSB)
Data (LSB)
Any
Any
Data (LSB)
Any
Any
Issue: 2