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192 EN1-EN4, Encoder1-4 RELATED ITEMS Gear group Ienc group ModEn3-4 EXAMPLE USAGE GROUP MEMBERS (GROUP 64-67) EXTENDED REGISTER GROUPS Group.Member Member No. Range Ability Default ENx.Source 6x:0 0..7 RW See below Default value: EN1: 16 1) Goes to the pos/speed regulator. 1) See Backward compatibility note. EN2: 1 Goes to the gear box/cam input. EN3: 2 Free for general use by PL program. EN4: 3 Free for general use by PL program. Value description: Source Value RD1 0 RD2 1 ENDAT 2 IENC 3 Pg 4 Reserved. 5 Reserved. 6 Reserved. 7 ENx.Pos 6x:1 ±31 bit RW Position from selected source. This is the position from the connected sensor. Enx.Speed 6x:2 ±31 bit R Position from selected source. This is the speed from the connected sensor. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS IENC Group Group No. Description IENC IENC 69 Simple incremental encoder interface. This is a simple interface to an incremental encoder. GENERAL The DMC 2 can handle a three channel Incremental Encoder (A, B and Z), with 5 Volt differential outputs. The connector also contains supply voltage for the device. The incremental feedback can be used for commutating the motor (primary feedback) or as a master signal to the Gearbox (secondary feedback). FUNCTION The interface always counts every edge (quadrature counting), which means that an Encoder with 4096 pulses per turn gives 16384 counts per turn. The Zero pulse (once per turn) triggers the counter to freeze the value on rising edge <strong>of</strong> the marker pulse. This Zero pulse can also be used to trigger the Capture mechanism, (see page 118 Capture group for details) RELATED ITEMS Capture function EN1 – EN4 EXAMPLE USAGE Use the Incremental encoder as master to Gearbox functions. En2.Source,3 ;encoder as source to gearbox Ienc.Mode,1 ;activate GROUP MEMBERS (GROUP 69) Group.Member Member No. Range Ability Default IENC.Mode 0 0..1 RW 0 Turns on or <strong>of</strong>f the incremental encoder interface. 1 = interface is active. See the XENDAT group. IENC.Pos 1 ±31 bit R 0 This is the incremental position count from the encoder. This counter counts every edge on the input signals thus an encoder with 5000 pulses/revolution will here give 20.000 pulses/revolution since every edge is counted. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 193
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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
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EXTENDED REGISTER GROUPS CAPTURE, C
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EXTENDED REGISTER GROUPS Ana.ConnTM
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EXTENDED REGISTER GROUPS EEPROM Gro
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EXTENDED REGISTER GROUPS Bit(0..3)
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EXTENDED REGISTER GROUPS RD1CORR, P
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EXTENDED REGISTER GROUPS OptAD, ana
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EXTENDED REGISTER GROUPS OptAD.7 7
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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 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: EXTENDED REGISTER GROUPS EN1-EN4, E
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
Page 216 and 217: 216 Test including the upload and d
Page 218 and 219: 1 2 3 4 5 6 X7:A 16 15 14 13 12 11
Page 220: Start (reset entry) Init If ..... t
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