Rockwell-automation 2092-DAx Ultra1500 Host Commands for Serial Commun Manual de usuario descargar pdf (Pagina 40)

Publication 2092-RM001A-EN-P — March 2005

2-28 Command Reference

Group 3 Parameters

[Pr – 3.00] Follower

Data Size: 4 digits

Digit 0: Command Type

Range: Value Description

0x0 Step/Direction - CW + CCW, positive logic

0x1 Step/Direction - CW + CCW, negative

logic

0x2 Step Up/Step Down - Pulse Line + Sign,

positive logic

0x3 Step Up/Step Down - Pulse Line + Sign,

negative logic

0x4 Auxiliary Encoder - A Phase + B Phase,

positive logic

0x5 Auxiliary Encoder - A Phase + B Phase,

double input multiplication, positive logic

0x6 Auxiliary Encoder - A Phase + B Phase,

quadruple input multiplication, positive logic

For command types 0x4, 0x5, and 0x6:

Motor Counts = Master Lines * MULT * .... (4 * [Pr3.01]) / [Pr3.02]

where MULT is 1, 2, or 4 for command types 0x4, 0x5, and 0x6

respectively.

Default: 0x0

Operating Mode: Follower

Digit 1: Controller Output Type

Range: Value Description

0x0 Line driver output to host controller.

0x1 Open collector output to host controller.

Default: 0x0

Operating Mode: Follower

Digit 2: Encoder Output Forward Direction

Range: Value Description

0x0 During forward rotation, Encoder Output

Phase A have a lead of 90° over Phase B.

0x1 During forward rotation, Encoder Output

Phase B have a lead of 90° over Phase A.

Default: 0x0

Operating Mode: All

Digit 3: “Clear Pos Error” Input Mode

1 2 ... 35 36 37 38 39 40 41 42 43 44 45 ... 69 70

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Rockwell-automation 2092-DAx Ultra1500 Host Commands for Serial Commun Manual de usuario Pagina 40