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Appendices
A-8-2
Gate3[i].Chan[j].SerialEncEna (Serial Encoder Enable)
Description Serial encoder enable
Default
0
This register is write-protected, so you cannot change it unless you write a key value in
Gate3[i].WpKey.
You can reset the write protection automatically in the script environment by writing the key value in
Sys.WpKey.
Gate3[i].Chan[j].SerialEncEna controls whether to enable the serial encoder.
1: Serial encoder enable
0: Serial encoder disable
Gate3[i].Chan[j].SerialEncEna shows the bit 20 of Gate3[i].Chan[j].InCtrl.
For this reason, you can also set it from Gate3[i].Chan[j].InCtrl.
Precautions for Correct Use
Gate3[i].Chan[j].SerialEncEna is Serial encoder disable by default.
Set it to Serial encoder enable before use.
A-8-3
Gate3[i].Chan[j].SerialEncCmd (Serial Encoder Command)
Description Command control of serial encoder
Default
$00000000
The setting of this register depends on the serial encoder protocol.
For BiSS-C
Bit
Name
31 to
Reserve
24
23 to
CRC_MASK
16
15 to
Reserve
14
13
SerialEncTrig-
Mode
A-24
Always set 0.
CRC polynomial expression setting
Set the CRC polynomial expression of the frame to be sent from the encoder.
8
7
6
M
X
+ M
X
+ M
X
+ M
X
7
6
5
4
M
= CRC_MASK[n]
n
For example, when the CRC polynomial expression of the encoder is X
set CRC_MASK[7:0] = 00100001 = $21.
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
CK3M/CK5M Series Programmable Multi-Axis Controller Hardware User's Manual (O036)
Function
5
4
3
2
+ M
X
+ M
X
+ M
X
+ M
3
2
1
1
X
+ 1
0
6
1
+ X
+ 1,
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