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162 ParArea, EXTENDED REGISTER GROUPS ParArea.Load, 4 ; Load from window #4 wait ParArea.Mode and 1 ParArea.Store 2 32bit=0..31 16bit=0..63 RW Store all Raw members into specified window. After a Load/Store operation a wait instruction should follow to make sure that the operation has finished before executing the next instruction. The CSum member is automatically calculated by the firmware. Ex. ParArea.Store, 4 ;Store from window #4 wait ParArea.Mode and 1 ParArea.Raw0..10 3 - 13 -2 31 ..2 31 -1 RW Parameter #n of the currently loaded window. ParArea.CSum 14 -2 31 ..2 31 -1 RW Checksum value. ParArea.S0..S10 15 - 25 -2 31 ..2 31 -1 RW Scaled RawX value. When this member is read then the following calculation is performed, RawX * ScaleX sX = 65536 The intention is to use the DIVMUL operation to calculate the scale value as, ParArea.scale2 = 7400 DIVMUL 800 Scale s2 to return a full-scale reading of 7400 for a Raw value of 800. ParArea.S0..S10 26 - 36 -2 31 ..2 31 -1 RW The scale value used in the calculation when a sX member is read. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS XENDAT, Group Group No. Description XENDAT, XENDAT 56 The ENDAT transducer interface group. Purpose is to initialize, control and readout position/speed from the ENDAT sensor. The interface supports ENDAT sensors that conforms to the Heidenhain document D297403-00-A-02, version 2.1. GENERAL This group is not affected by a GDisp terminal mode command. FUNCTION The sensor can be operated in four modes MANUAL MODE. In this mode the PL program controls each transmission and reception from the sensor. This is the mode used to initialize, configure and troubleshoot the sensor. AUTOMATIC SERIAL MODE The serial position of the sensor is read every servo cycle, or as often as the sensor/sensor clock allows, if this is slower. This position is absolute up to the capacity of the serial capacity of the encoder, and then incrementally extended to the 32-bit position the DMC 2 uses. In case the encoder has a capacity of more than 32 bits, only the 32 least significant bits are used. If this mode is used for commutating and regulating the motor, it must be ensured that the encoder is setup in such a way that it can respond every servo cycle. Also no manually transmitted commands that disturbs this is allowed. (At 2 MHz endatclock it is possible to run both parameter reads and regulation at the same time) ANALOG MODE ONLY The analog signals from the sensor is counted in and up/down quadrate counter to extract a coarse position and an Arctangent calculation is performed on the sin and cos signals to extract a fine position. These positions are then combined to a total position. The extra resolution that can be extracted this way is maximum 11 bits. The 13 least significant bits of this information is absolute, all other higher order bits are incremental. COMBINED SERIAL AND ANALOG MODE In this mode the position from the analog mode is combined with the serial data to get an absolute position from the encoder, and to extend it with up to 11 more bits. Thus for a 25 bit encoder the position can be extended by 7 bits to 32 bits fully absolute position. Extending the position with more than 7 bits will in this case User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 163
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HEAD OFFICE INMOTION TECHNOLOGIES A
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Table of Contents Table of Contents
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Related items .....................
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Related items .....................
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Creating/Editing Source Code ......
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12 System architecture register val
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14 B002 Timing and execution flow T
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16 Function Block Diagram SOFTWARE
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18 Function Block Diagram Figure 5.
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20 Function Block Diagram Function
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22 Load a new firmware release SOFT
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24 User's Manual 5.1 Inmotion Techn
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26 Argument types executing results
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28 Mnemonic Operators PL2 NATIVE PO
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30 Compiler Symbols PL2 NATIVE POSI
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32 Compiler directives PL2 NATIVE P
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34 Compiler directives Warnings: No
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36 Spline function compilation dire
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38 Multiline Macro MACRO DEFINITION
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PL2 Mnemonics GENERAL The general f
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PL2 MNEMONICS Standard set Mnemonic
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PL2 MNEMONICS TRACE RELATED MNEMONI
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PL2 MNEMONICS Indexed Addressing Mn
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PL2 MNEMONICS If r_length < r_Membe
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PL2 MNEMONICS Text mode \000 Intern
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Extended register groups INTRODUCTI
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EXTENDED REGISTER GROUPS STACK HAND
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EXTENDED REGISTER GROUPS RD1, Resol
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EXTENDED REGISTER GROUPS RD1.FiltSp
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EXTENDED REGISTER GROUPS RD2.ChkLow
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EXTENDED REGISTER GROUPS Pos Inc Pr
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EXTENDED REGISTER GROUPS Pg.ASpeed
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EXTENDED REGISTER GROUPS MOTOR, MOT
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EXTENDED REGISTER GROUPS 2-Pole: 81
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EXTENDED REGISTER GROUPS Motor.Base
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EXTENDED REGISTER GROUPS REG, PID R
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EXTENDED REGISTER GROUPS GROUP MEMB
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EXTENDED REGISTER GROUPS Positive T
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EXTENDED REGISTER GROUPS Reg, PID r
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EXTENDED REGISTER GROUPS Gear.Incr
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EXTENDED REGISTER GROUPS GROUP MEMB
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EXTENDED REGISTER GROUPS Gear, Elec
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EXTENDED REGISTER GROUPS TMR, SYSTE
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EXTENDED REGISTER GROUPS Tmr, Syste
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EXTENDED REGISTER GROUPS RELATED IT
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EXTENDED REGISTER GROUPS SysIo.ADC1
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EXTENDED REGISTER GROUPS Bit10 (102
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EXTENDED REGISTER GROUPS INT, INTER
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EXTENDED REGISTER GROUPS Bit2 (4) =
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EXTENDED REGISTER GROUPS Int, Inter
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EXTENDED REGISTER GROUPS IN, DIGITA
Page 111 and 112: EXTENDED REGISTER GROUPS X7A:6. In.
Page 113 and 114: EXTENDED REGISTER GROUPS X7B:33. Ou
Page 115 and 116: EXTENDED REGISTER GROUPS GROUP MEMB
Page 117 and 118: EXTENDED REGISTER GROUPS Vector, In
Page 119 and 120: EXTENDED REGISTER GROUPS CAPTURE, C
Page 125 and 126: EXTENDED REGISTER GROUPS Ana.ConnTM
Page 127 and 128: EXTENDED REGISTER GROUPS EEPROM Gro
Page 129 and 130: EXTENDED REGISTER GROUPS Bit(0..3)
Page 133 and 134: EXTENDED REGISTER GROUPS RD1CORR, P
Page 135 and 136: EXTENDED REGISTER GROUPS OptAD, ana
Page 137 and 138: EXTENDED REGISTER GROUPS OptAD.7 7
Page 139 and 140: EXTENDED REGISTER GROUPS LAN1, LOCA
Page 141 and 142: EXTENDED REGISTER GROUPS WriteLAN1
Page 143 and 144: EXTENDED REGISTER GROUPS LAN1, Loca
Page 145 and 146: EXTENDED REGISTER GROUPS LAN1, Loca
Page 147 and 148: EXTENDED REGISTER GROUPS LAN1.ErrVe
Page 149 and 150: EXTENDED REGISTER GROUPS MsgObjLAN1
Page 151 and 152: EXTENDED REGISTER GROUPS isrDone: M
Page 153 and 154: EXTENDED REGISTER GROUPS MsgObjLAN2
Page 155 and 156: EXTENDED REGISTER GROUPS Denominato
Page 157 and 158: EXTENDED REGISTER GROUPS ABIN Group
Page 159 and 160: EXTENDED REGISTER GROUPS DSTORE, Gr
Page 161: EXTENDED REGISTER GROUPS PARAREA, G
Page 165 and 166: EXTENDED REGISTER GROUPS wait tmr.t
Page 167 and 168: EXTENDED REGISTER GROUPS XENDAT.Tra
Page 169 and 170: EXTENDED REGISTER GROUPS XENDAT, Af
Page 171 and 172: EXTENDED REGISTER GROUPS XENDAT.RPo
Page 173 and 174: EXTENDED REGISTER GROUPS Counter 0
Page 175 and 176: EXTENDED REGISTER GROUPS IDENTIFIER
Page 177 and 178: EXTENDED REGISTER GROUPS >RPDATA.Ar
Page 179 and 180: EXTENDED REGISTER GROUPS EXAMPLE US
Page 181 and 182: EXTENDED REGISTER GROUPS SAnyBus ;
Page 185 and 186: EXTENDED REGISTER GROUPS SAnyBus As
Page 187 and 188: EXTENDED REGISTER GROUPS PutLONG Pu
Page 189 and 190: EXTENDED REGISTER GROUPS ABOUTMAIL
Page 191 and 192: EXTENDED REGISTER GROUPS EN1-EN4, E
Page 193 and 194: EXTENDED REGISTER GROUPS IENC Group
Page 195 and 196: EXTENDED REGISTER GROUPS MODEN3-MOD
Page 197: EXTENDED REGISTER GROUPS ModEN3.Cap
Page 200 and 201: 200 Computer Mode Record type 1 2 3
Page 203 and 204: PL2 On line commands PL2 ON LINE CO
Page 205: PL2 ON LINE COMMANDS Command name E
Page 208 and 209: 208 B009 Definitions THE ECT MAIN M
Page 210 and 211: 210 Edit in generating this code. F
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212 Compile EXITING EDIT To exit Ed
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214 Test line, assisting the user t
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216 Test including the upload and d
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1 2 3 4 5 6 X7:A 16 15 14 13 12 11
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Start (reset entry) Init If ..... t
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