Table of Contents - TG Drives
Table of Contents - TG Drives 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
EXTENDED REGISTER GROUPS XENDAT.Transfer = 0. XENDAT, b1 (2) = CRCbit, CRC compare mismatch. b2 (4) = PWRbit, current status of the ENDAT power supply. b3..b15 = reserved. XENDAT.Config 4 0..63 RW 25 Specifies the number of position data bits for the particular sensor in use. This value must be set to match the actual sensor in use. The DMC 2 can handle maximum 32 bits of position information, thus if a sensor with more than 32 bits is used, the most significant bits are discarded. If the sensor used less than 32 bits, the driver will incrementally extend the ENDAT position to 32 bits, to be able to fully utilize the DMC 2 functionality. XENDAT.Rdy 5 0..1 R 1 This member indicates when the ENDAT communications interface has completed a manually issued command. XENDAT.Data 6 16 bit RW 0 Data to/from a manually issued command. Read: Value received from the sensor as a result of a parameter read transfer. Write: Value to transmit to the sensor for a parameter writes transfer. XENDAT.Addr 7 32 bit RW 0 Address to read/write to sensor in manual mode. The ENDAT manual uses WORD as a notation for parameters, to convert a WORD value to an address use XENDAT.Addr = rWORD and 15. Read: Address received from the sensor as a result of a parameter read transfer. Write: Address to write ENDAT.Data to, within the ENDAT based sensor. XENDAT.Transfer 8 0-7 RW 0 To manually issue a command, command type is 0 to 7. After sensor initialization the following transfer types are available. Before a new transfer is issued with the ENDAT interface a programmer must check that User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 167
- 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 121 and 122: EXTENDED REGISTER GROUPS CAPTURE, C
- Page 123 and 124: 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 131 and 132: EXTENDED REGISTER GROUPS GROUP MEMB
- 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 and 164: EXTENDED REGISTER GROUPS XENDAT, Gr
- Page 165: EXTENDED REGISTER GROUPS wait tmr.t
- 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 183 and 184: EXTENDED REGISTER GROUPS GROUP MEMB
- 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
- Page 214 and 215: 214 Test line, assisting the user t
EXTENDED REGISTER GROUPS<br />
XENDAT.Transfer = 0.<br />
XENDAT,<br />
b1 (2) = CRCbit, CRC compare mismatch.<br />
b2 (4) = PWRbit, current status <strong>of</strong> the ENDAT power<br />
supply.<br />
b3..b15 = reserved.<br />
XENDAT.Config 4 0..63 RW 25<br />
Specifies the number <strong>of</strong> position data bits for the particular<br />
sensor in use. This value must be set to match the actual<br />
sensor in use.<br />
The DMC 2 can handle maximum 32 bits <strong>of</strong> position<br />
information, thus if a sensor with more than 32 bits is used,<br />
the most significant bits are discarded. If the sensor used<br />
less than 32 bits, the driver will incrementally extend the<br />
ENDAT position to 32 bits, to be able to fully utilize the<br />
DMC 2 functionality.<br />
XENDAT.Rdy 5 0..1 R 1<br />
This member indicates when the ENDAT communications<br />
interface has completed a manually issued command.<br />
XENDAT.Data 6 16 bit RW 0<br />
Data to/from a manually issued command.<br />
Read:<br />
Value received from the sensor as a result <strong>of</strong> a<br />
parameter read transfer.<br />
Write:<br />
Value to transmit to the sensor for a parameter writes<br />
transfer.<br />
XENDAT.Addr 7 32 bit RW 0<br />
Address to read/write to sensor in manual mode.<br />
The ENDAT manual uses WORD as a notation for<br />
parameters, to convert a WORD value to an address<br />
use XENDAT.Addr = rWORD<br />
and 15.<br />
Read:<br />
Address received from the sensor as a result <strong>of</strong> a<br />
parameter read transfer.<br />
Write:<br />
Address to write ENDAT.Data to, within the<br />
ENDAT<br />
based sensor.<br />
XENDAT.Transfer 8 0-7 RW 0<br />
To manually issue a command, command type is 0 to 7.<br />
After sensor initialization the following transfer types are<br />
available. Before a new transfer is issued with the<br />
ENDAT interface a programmer must check that<br />
User's Manual 5.1 Inmotion Technologies AB<br />
Doc. No.9032 0027 01 (B), Rev. 11.07.2001<br />
167
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