Table of Contents - TG Drives
Table of Contents - TG Drives
Table of Contents - TG Drives
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194<br />
IENC<br />
IENC.Speed<br />
IENC.RPos<br />
IENC.PosOffs<br />
2 -32767000..32767000 R 0<br />
EXTENDED REGISTER GROUPS<br />
This is the number <strong>of</strong> counts/second from the incremental<br />
encoder.<br />
3 ±31 bit R 0<br />
IENC . RPos = IENC.<br />
Pos − IENC.<br />
PosOffs<br />
Position <strong>of</strong>fset between IENC.Pos and IENC.RPos<br />
IENC.IdxPos 5 16 bit RW 0<br />
This register returns the 16 bit value <strong>of</strong> the up/down<br />
counter hen the index signal from the encoder went<br />
active. The index signal from the incremental sensor<br />
shares the connector pin with the trig signal for the<br />
CAPTURE group. In order to use the CAPTURE function to<br />
detect updates <strong>of</strong> IENC.IdxPos a user<br />
must make sure<br />
that the pulse width is within specifications <strong>of</strong> both the trig<br />
signal for CAPTURE and the IENC.IdxPos.<br />
See hardware specifications.<br />
IENC.IncErrors 6 ±31 bit RW 0<br />
i<br />
4 ±31 bit RW 0<br />
Error counter for detected errors in the UP/DOWN<br />
counter. This quadrature counter is used to count the A<br />
and B signals from the incremental encoder. When there<br />
is a situation where both input signals change state at the<br />
same time, the discriminator in the encoder cannot<br />
determine if this should be an UP or DOWN count. In this<br />
case the ierrors counter is incremented.<br />
Since the same hardware counter is used in the<br />
XENDAT group, this error counter is also common to<br />
both groups.<br />
User's Manual 5.1 Inmotion Technologies AB<br />
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
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