Delta Tau GEO BRICK LV User Manual

 

Absolute Power-On Position Read (Yaskawa 16-bit) 

Channel 1 example PLC, 16-bit Absolute Sigma II Encoder  

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#define STD0_15 

M7000  ; Single-turn Data 0-15 (16-bits)  

#define MTD0_3  

M7001  ; Multi-Turn Data 0-3 (4-bits) 

#define MTD4_15 

M7002  ; Multi-Turn Data 4-15 (12-bits) 

#define MTD0_15 

M7003  ; Multi-Turn Data 0-15 (16-bits) 

 
STD0_15->Y:$78B20,4,16 
MTD0_3->Y:$78B20,20,4 
MTD4_15->Y:$78B21,0,12 
MTD0_15->* 
 
#define Mtr1ActPos      M162 
Mtr1ActPos->D:$00008B ; #1 Actual position (1/[Ixx08*32] cts) 
 
Open plc 1 clear 
MTD0_15 = MTD4_15 * $10 + MTD0_3 
If (MTD0_15>$7FFF) 
 

MTD0_15 = (MTD0_15^$FFFF + 1)*-1 

 

If (STD0_15 !=0) 

 

 

STD0_15 = (STD0_15^$FFFF + 1)*-1 

 

Endif 

Endif 
Mtr1ActPos = ((MTD0_15 * $10000)+ STD0_15) * I108 * 32 

 

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