Specifications

BASIC commands
PROGRAMMING MANUAL 81
Revision 5.0
3.2.102 ENCODER_STATUS
/i
3.2.103 ENCODER_TURNS
/i
3.2.104 ENDIF
See IF..THEN..ELSE..ENDIF.
3.2.105 ENDMOVE
/i
Arguments • denominator
A number between 0 and 16777215 that is used to define the denomina-
tor in the above equation.
• numerator
A number between 0 and 16777215 that is used to define the numerator
in the above equation.
Example ' 7200 is the closest to the encoder resolution that can be devided by an
' integer to give degrees. (7200/20=360)
ENCODER_RATIO(8192,7200)
UNITS=20 ' axis calibrated in degrees, resolution is 0.05 deg.
A rotary table has a servo motor connected directly to its centre of rotation. An
encoder is mounted to the rear of the servo motor and returns a value of 8192
counts per revolution. The application requires the table to be calibrated in
degrees, but so that one degree is an integer number of counts.
See also N/A
Type Axis parameter (read-only).
Syntax ENCODER_STATUS
Description This parameter returns the status of the absolute encoder.
This parameter is applicable only to Flexible axis absolute Tamagawa axis
with ATYPE value 46. It returns both the status field SF and the ALMC
encoder error field. The SF field is in bits 0 - 7, while the ALMC filed is in bits 8
- 15. For more information see Tamagawa absolute encoder interface specifi-
cation.
If applied to axis of ATYPE value other than 46, this parameter returns 0.
Arguments N/A
Example PRINT (ENCODER_STATUS AXIS (1) AND 255)
This command will print SF field of the Tamagawa absolute encoder for axis 1.
See also AXIS, ENCODER, ENCODER_BITS.
Type Axis parameter (read-only)
Syntax ENCODER_TURNS
Description The ENCODER_TURNS parameter returns the number of multi-turn count
from the encoder.
This is applicable only to Flexible axis absolute Tamagawa axis with ATYPE
value 46 and Flexible axis absolute EnDat axis with ATYPE value 47.
The multi-turn data is not automatically applied to the axis MPOS parameter
after initialization. The application programmer must apply this from the pro-
gram using OFFPOS or DEFPOS commands as required.
If applied to axis of ATYPE value other than 46 or 47, the parameter returns 0.
Arguments N/A
Example PRINT ENCODER_TURNS AXIS (1)
This command will print absolute encoder multi-turn counts for axis 1.
See also AXIS, ENCODER, ENCODER_BITS.
Type Axis parameter
Syntax ENDMOVE
Description The ENDMOVE axis parameter holds the position of the end of the current
move in user units. If the SERVO axis parameter is ON, the ENDMOVE
parameter can be written to produce a step change in the demand position
(DPOS).
Note: As the measured position is not changed initially, the Following Error
limit (FE_LIMIT) should be considered when writing to ENDMOVE to produce
a step change. If the change of demanded position is too big, the limit will be
exceeded.