Table of Contents - TG Drives

164
XENDAT,
EXTENDED REGISTER GROUPS
result in the most significant bits being discarded to keep the total position to 32
bits.
This is the preferred mode, since it allows running the encoder on lower clockfrequency,
and allows interruptions in the serial data without affecting the
regulation. Also any counting errors in the incremental signal will be corrected
when next serial data arrives.
RELATED ITEMS
EXAMPLE USAGE
Before the ENDAT sensor can be used, the sensor must be initialized.
Example code to initialize:
;
; 1 Check that the ENDAT host interface has been initialized
properly.
if SYSIO.MEMSTAT and 2048 then INIT_ERR
RTmp,
; Resets any spurious flags.
XENDAT.Status
;
; 2 Reset interface.
XENDAT.Mode, 128 ; Reset host ENDAT interface.
;
; 3 Check ENDAT power supply.
;
XENDAT.Mode, 128 ; if XENDAT.Status and 4 then PWR_ERR.
;
; 4 Synchronize communication with the sensor.
;
XENDAT.Mode, 32
clr tmr.t0
; Force CLK line low.
wait tmr.t0 > 100 ; This time is sensor dependent.
XENDAT.Mode, 64 ; Force CLK line high.
clr tmr.t0
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001