Table of Contents - TG Drives

166
XENDAT,
EXTENDED REGISTER GROUPS
2 = Analog mode active.
3 = Combined serial and analog mode.
4 + any of the above: The incremental encoder interface
active. (See the IENC group)
The following values are used for initializing the interface
and sensor:
32 = Force the ENDAT clock line LOW
64 = Force the ENDAT clock line HIGH
64+32 = Start the ENDAT CLOCK.
128 = Reset the interface hardware.
XENDAT.Clock 1 4..99 RW 80
This sets the clock frequency to the ENDAT sensor. *
Frequency is calculated as follows:
f = 10 000 000 / (value + 1)
Max ENDAT clock is 2 MHz, which gives the value: 4
Min ENDAT clock is 0.1 MHz, which gives the value: 99
The max allowable clock rate is also depending on the
cable length to the sensor.
*See the ENDAT specification for a more detailed
description.
** Up to 127 Accepted by hardware, but will generate
an out-of-specification clock frequency.
Set frequency for the ENDAT communication. Below is a
list of example values and the resulting communication
frequency,
99 => 100 kHz
79 => 125 kHz
39 => 250 kHz
19 => 500 kHz
9 => 1.0 MHz
4 => 2.0 MHz
XENDAT. 2 0..65535 R x
NIU
XENDAT.Status 3 0..65535 R x
Shows status of hardware when ( XENDAT.Mode and 1) =
0, otherwise gives status data returned for last manually
transmitted command.
b0 (1) = ALRMbit, sensor alarm.
This bit is only valid after a position transfer,
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001