Reading The Absolute Position With Di/Do - Delta ASDA-A3 Series User Manual

ASDA-A3

10.3.6 Reading the absolute position with DI/DO

Set P2.070 Bit 0 to 0 so that you can read the PUU number with DI/DO.
See the descriptions below:
Bit 79 – Bit 64
Check Sum
Set P2.070 Bit 0 to 1 so that you can read the pulse number with DI/DO.
See the descriptions below:
Bit 79 – Bit 64
Check Sum
Description:
Check Sum = (((((((WORD_0+0xA700) XOR WORD_1)+0x605A) XOR WORD_2)+0x30A5)
XOR WORD_3)+0x5A06)
WORD_0
0xA700
Note:
1. This algorithm has no positive or negative sign.
2. 0xA700, 0x605A, 0x30A5, and 0x5A06 are the constants for hexadecimal format.
3. WORD_0: encoder status (Bit 15 – 0)
WORD_1: encoder turn (Bit 31 – 16)
WORD_2: encoder pulse number (Bit 47 – 32)
WORD_3: encoder pulse number (Bit 63 – 48)
Revision December, 2017
Bit 63 – Bit 32
Encoder PUU
-2147483648 to +2147483647
Bit 63 – Bit 32
Pulse number in one rotation
0 to 16777215 (=16777216-1)
WORD_1
+ XOR +
0x605A
Bit 31 – Bit 16
0
Bit 31 – Bit 16
Encoder turn
-32768 to +32767
WORD_3
WORD_2
XOR + XOR
0x30A5
Absolute System
Bit 15 – Bit 0
Encoder status
(P0.050)
Bit 15 – Bit 0
Encoder status
+
Output
0x5A06
10-17
10