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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
EXTENDED REGISTER GROUPS wait tmr.t0 > 2 ; This time is sensor dependent. XENDAT.Mode, 32+64+1 ; Automatic clock mode, and enable. XENDAT, XENDAT.Clock, 4 ; 2MHz transfer rate Transfer rate is cable length dependent. ; ; 5. Ready to issue manual transfers. ; Read position, read/write parameters. GROUP MEMBERS (GROUP 56) Group.Member Member No. Range Ability Default XENDAT.Mode 0 0..255 RW 0 ENDAT.Mode = 0.The ENDAT communications not activated. b0 Serial communication interface active. b1 Analog interface active. b2 Standard encoder interface active. See the IENC group. b3 Enable ENDAT serial communication timeout interrupt See the VECTOR.PosErr member. b4 Serial data timeout has occurred. b5 Serial comm. manual mode, bit0. b6 Serial comm. manual mode, bit1. Bit 0 to Bit 6 initialize the ENDAT sensor. 00 Normal mode. 01 Force clock low. 10 Force clock high. 11 Automatic mode. After this mode is given then Normal mode is automatically entered. b7 Reset interface. When this bit is set then the ENDAT communication interface is reset. Mode values: 0 = ENDAT interface turned <strong>of</strong>f. 1 = Serial mode active. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 165
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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
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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 and 162: EXTENDED REGISTER GROUPS PARAREA, G
Page 163: EXTENDED REGISTER GROUPS XENDAT, Gr
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
Page 212 and 213: 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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