Rms-technologies R325P DRIVER Manual de usuario descargar pdf (Pagina 22)

Command

(Case

Sensitive)

Operand Example Description

ENCODER VERSION COMMANDS

1, 2

#AEM2

Sets the

Encoder Mode

to 2

Encoder Mode – Command or Query, Default = 2

- Reads or sets the operating mode of the Encoder

Interface IC. A value of 1 returns one Encoder Count per

Encoder Line. A value of 2 returns 2 Encoder Counts per

Encoder Line. Only 1 and 2 are valid. (3x or Quadrature 4x

is not permitted on this device). This is the first encoder

setting to use.

0, 1

#AEI1

Encoder

Installed True

Encoder Installed – Command or Query, Default = 1

- Read or set TRUE (1) or FALSE (0). This is the second

encoder setting to enter in order to get started.

0 - 16777215

#AEL400

Sets the

encoder line

count to 400

Encoder Lines – Command or Query, Default = 400

- Encoder lines per motor revolution

- Reads or sets the encoder line count. This is used in

conjunction with Encoder Mode to calculated motor

positions. Use EL with EM, Encoder Mode. For example, if

EM=2 (default) and if your encoder is 400 CPR, then EL

should be 2 x 400 = 800.

+/- 16777215

(Motor

Position in

Encoder

counts)

#ACE

*ACE12345

Current Encoder – Query Only

- Returns a 16-bit signed value, corresponding to the

current motor position in encoder count. (See Encoder

Mode). This is the main usage of the encoder. A separate

PLC or controller can query the encoder position and

compare it to the Current Position (CP), and issue adjusted

moves based on the error seen.

1, 2

#AEA2

Sets Error

Action to

Correct Mode

Error Action – Command or Query, Default = 2

- Reads or sets a value that determines the action to be

taken when an encoder error is found

1 – The error is reported and the motor is stopped

2 – The error is reported and the correction move is made

0 – 16777215

#AEP10

Error Permitted- Command or Query

- Reads or sets the maximum error allowed before Error

Action is taken. Depending on the system configuration,

the value is given in either Encoder Counts or Steps at the

current Step Resolution.

- If the product of Encoder Lines and Encoder Mode is

larger than the product of Motor Steps and Step

Resolution, then the value is in Encoder Counts. Otherwise

it is in Steps.

Note: The minimum value is the number of the finer

resolution Encoder Counts or Steps required to make up

one unit of the coarser resolution.

RMS Technologies Page 22 Version 1.01

R325PE Single Axis Closed loop Driver/Indexer Manual 5/29/2013

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