Specifications

BASIC commands
PROGRAMMING MANUAL 79
Revision 5.0
3.2.94 EDIT
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3.2.95 ELSE
See IF..THEN..ELSE..ENDIF.
3.2.96 ELSEIF
See IF..THEN..ELSE..ENDIF.
3.2.97 ENCODER
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3.2.98 ENCODER_BITS
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See also DRIVE_READ, DRIVE_RESET, $ (HEXADECIMAL INPUT)
Caution
Be sure that no Parameter Unit or Personal Computer Software is
connected to the Servo Driver when executing this command. Oth-
erwise the program task will be paused until the connection of the
other device to the Servo Driver is removed.
Type Program command
Syntax EDIT [ line_number ]
ED [ line_number ]
Description The EDIT command starts the built in screen editor allowing a program in the
controller to be modified using a Command Line Terminal. The currently
selected program will be edited.
The editor commands are as follows:
• Quit Editor: [CTRL] K and D
• Delete Line: [CTRL] Y
This command is implemented for a Command Line Terminal.
Arguments • line_number
The number of the line at which to start editing.
Example No example.
See also SELECT.
Type Axis parameter (read-only)
Syntax ENCODER
Description The ENCODER axis parameter contains a raw copy of the encoder hardware
register or the raw data received from the drive via MECHATROLINK-II. On
axes with absolute encoders, the ENCODER parameter contains a value
using a number of bits programmed with ENCODER_BITS.
The MPOS axis parameter contains the measured position calculated from
the ENCODER value automatically, allowing for overflows and offsets.
Arguments N/A
Example No example.
See also AXIS, MPOS.
Type Axis parameter
Syntax ENCODER_BITS = value
Description This axis parameter configures the interface for the number of encoder bits for
Flexible axis SSI and EnDat absolute encoder axes. The parameter is appli-
cable only to axes of ATYPE values 47 and 48.
When applied to Flexible axis EnDat absolute encoder axis, bits 0 - 7 of the
parameter should be set to the total number of encoder bits. Bits 8 - 14 should
be set to the number of multi-turn bits to be used.
When applied to Flexible axis SSI absolute encoder axis, bits 0 - 5 of the
parameter should be set to the number of encoder bits. Bit 6 should be 1 for
binary operation, or 0 for Gray code.
For SSI encoders of the “Balluff” brand bits 8..10 allow an additional hardware
shift to be specified. Normally bits 8..10 are 0.
Note: If using Flexible axis absolute encoder axis, it is essential to set this
parameter for the axis before setting the ATYPE.
Arguments N/A