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170 XENDAT, EXTENDED REGISTER GROUPS The speed sent to the regulator and gearbox is limited to ±32767000. If this speed does not allow a sufficiently high rpm, the resolution of the sensor has to be decreased. (See XENDAT.PosShift). XENDAT.SerABSPos 13 Not A R 0 This is the serial absolute position as received from the sensor, the position wraps at the capacity of the sensor. The value is only updated if bit 0 in XENDAT.Mode is set. Note A. Sensor dependent, max 32bit. XENDAT.SerPos 14 ±31 bit R 0 This is the serial extended position from the sensor. The position wraps at the DMC XENDAT. SerWrapCnt XENDAT.Mode is 2 32 bit position capacity. The member can control the difference between this position and the absolute position. The value is only updated if bit 0 in set. XENDAT.SerErrors 15 ±31 bit RW Error counter for transmission errors from the endat sensor. The following errors are counted: Alarm from endat. CRC error on received frame. 5 Volt supply error. XENDAT.IncErrors 16 ±31 bit RW 0 i Error counter for detected errors in the UP/DOWN counter. This quadrature counter is used to count the whole sine/cosine periods of the analog ENDAT signal. When there is a situation where both input signal change state at the same time, the discriminator in the encoder cannot determine if this should be an UP or DOWN count. In this case the I errors counter is incremented. Since the same hardware counter is used in the IENC group, this error counter is also common to both groups. XENDAT.SerIncOffs 17 ±31 bit R 0 When combined serial and analog (incremental) mode is used, this value holds the difference between the incremental and the absolute position from the sensor. If there are no errors, this value will be constant, once the system is started. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS XENDAT.RPos 18 ±31 bit R 0 Referenced position, value = XENDAT.PosOffs. XENDAT.Pos - XENDAT.PosOffs 19 ±31 bit RW 0 Position offset between XENDAT.RPos. XENDAT.Pos and XENDAT.SerWrapCnt 20 ±31 bit RW 0 Position offset between XENDAT.SerPos. XENDAT.SerABSPos and XENDAT, This value can only be set to multiples of the ENDAT sensor capacity. Typical use is to set the home position with aid of external sensors if the ENDAT absolute range is not large enough. XENDAT.SinOffs 21 0..16384 RW 8192 Offset calibration for ENDAT sine-signal. XENDAT.CosOffs 22 0..16384 RW 8192 Offset calibration for endat cosine-signal. XENDAT.PosShift 23 0..11 RW 0 i In ENDAT analog mode, or combined mode, this value is the number of bits from the evaluation of the analog sine and cosine signals that is added to the serial position data. This parameter does not affect the values that are used for commutation of the motor. The motor is commutated on the standard (nonextended) value from the ENDAT sensor. Motor.Ppr shall be set to the resolution the sensor has when XENDAT.PosShift is set to zero, and it is not to be changed when the XENDAT.PosShift is changed. Since this parameter changes the magnitude of speed and position sent into the regulator for a given mechanical movement, the regulator gain settings as well as motion profiles etc will have to be changed if the resolution of the sensor is changed. XENDAT.SerPosAge 24 0..32767 R Age(in milliseconds), of last serial position value from the Endta sensor (i XENDAT.SerTimeOut 25 0..32767 RW Timeout (in milliseconds), before a position error interurpt is set pending. (See Xendat.mode) User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 171
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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 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.
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EXTENDED REGISTER GROUPS X7B:33. Ou
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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 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 and 166: EXTENDED REGISTER GROUPS wait tmr.t
Page 167 and 168: EXTENDED REGISTER GROUPS XENDAT.Tra
Page 169: EXTENDED REGISTER GROUPS XENDAT, Af
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
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Page 216 and 217: 216 Test including the upload and d
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Start (reset entry) Init If ..... t
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