Table of Contents - TG Drives
Table of Contents - TG Drives Table of Contents - TG Drives
194 IENC IENC.Speed IENC.RPos IENC.PosOffs 2 -32767000..32767000 R 0 EXTENDED REGISTER GROUPS This is the number of counts/second from the incremental encoder. 3 ±31 bit R 0 IENC . RPos = IENC. Pos − IENC. PosOffs Position offset between IENC.Pos and IENC.RPos IENC.IdxPos 5 16 bit RW 0 This register returns the 16 bit value of the up/down counter hen the index signal from the encoder went active. The index signal from the incremental sensor shares the connector pin with the trig signal for the CAPTURE group. In order to use the CAPTURE function to detect updates of IENC.IdxPos a user must make sure that the pulse width is within specifications of both the trig signal for CAPTURE and the IENC.IdxPos. See hardware specifications. IENC.IncErrors 6 ±31 bit RW 0 i 4 ±31 bit RW 0 Error counter for detected errors in the UP/DOWN counter. This quadrature counter is used to count the A and B signals from the incremental encoder. When there is a situation where both input signals 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 ierrors counter is incremented. Since the same hardware counter is used in the XENDAT group, this error counter is also common to both groups. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS MODEN3-MODEN4 Group Group No. Description ModEn3-4 72-73 Modula calculation on EN3 and EN4 GENERAL ModEn3-ModEn4 In order to make periodical systems the ModEnx can be set up map an external position signal (or the Profile generator output) to a machine period. This can be used for synchronizing purposes. FUNCTION Calculates a periodic position from the output of En3 and En4 It is possible to reset the counters at any time. A capture function is provided to take snapshots of the counter values based on a software trig or the hardware capture function (See the Capture group, page 118). The r RELATED ITEMS En3, En4 EXAMPLE USAGE Set up matching periods from Resolver 1 and Resolver 2(Master/Slave scenario) where the machine has a period of 250 000 pulses on the slave axis and 600 000 pulses on the master axis. Gear.In,250 ;this will map Gear.Out,600 ;one period of the Gear.Mode,1 ;master to one period Pos Mod On Clr ;of the slave. En3.Source,0 ;Rd1 as source En4.Source,1 ;Rd2 as source ModEn3.Module,250000 ;set period on Rd1 ModEn4.Module,600000 ;set period on Rd” ModEn3.mode,1 ;activate ModEn4.mode,17 ;activate with ganged reset GROUP MEMBERS (GROUP 72-73) Group.Member Member No. Range Ability Default ModEN3.Mode 0 0..255 RW 0 User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 195
- 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 and 192: EXTENDED REGISTER GROUPS EN1-EN4, E
- Page 193: EXTENDED REGISTER GROUPS IENC Group
- 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
EXTENDED REGISTER GROUPS<br />
MODEN3-MODEN4<br />
Group Group<br />
No.<br />
Description<br />
ModEn3-4 72-73 Modula calculation on EN3 and EN4<br />
GENERAL<br />
ModEn3-ModEn4<br />
In order to make periodical systems the ModEnx can be set up map an external<br />
position signal (or the Pr<strong>of</strong>ile generator output) to a machine period. This can be<br />
used for synchronizing purposes.<br />
FUNCTION<br />
Calculates a periodic position from the output <strong>of</strong> En3 and En4<br />
It is possible to reset the counters at any time. A capture function is provided to<br />
take snapshots <strong>of</strong> the counter values based on a s<strong>of</strong>tware trig or the hardware<br />
capture function (See the Capture group, page 118). The r<br />
RELATED ITEMS<br />
En3, En4<br />
EXAMPLE USAGE<br />
Set up matching periods from Resolver 1 and Resolver 2(Master/Slave scenario)<br />
where the machine has a period <strong>of</strong> 250 000 pulses on the slave axis and 600 000<br />
pulses on the master axis.<br />
Gear.In,250 ;this will map<br />
Gear.Out,600 ;one period <strong>of</strong> the<br />
Gear.Mode,1 ;master to one period<br />
Pos Mod On Clr ;<strong>of</strong> the slave.<br />
En3.Source,0 ;Rd1 as source<br />
En4.Source,1 ;Rd2 as source<br />
ModEn3.Module,250000 ;set period on Rd1<br />
ModEn4.Module,600000 ;set period on Rd”<br />
ModEn3.mode,1 ;activate<br />
ModEn4.mode,17 ;activate with ganged reset<br />
GROUP MEMBERS (GROUP 72-73)<br />
Group.Member Member<br />
No.<br />
Range Ability Default<br />
ModEN3.Mode 0 0..255 RW 0<br />
User's Manual 5.1 Inmotion Technologies AB<br />
Doc. No.9032 0027 01 (B), Rev. 11.07.2001<br />
195
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