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This function block can be used to set the parameters for reading an encoder that is not connected to a drive over the network. In addition to the encoder position, it is also possible to read status information and homing events. The function block returns a ParID on the drive that stores the encoder position for further use.

Requirements for use

This function block can only be used on SG4 target system.

This function block can only be used for axes on a POWERLINK network.

This function block does not work with virtual axes, SIM and SDC axes, or ACOPOS-2 devices (8V1xxx.xx-2).

The virtual encoder (ENCOD0) is configured by this function block and cannot be used elsewhere.

The encoder must be in the same POWERLINK network as the drive that is reading from it (e.g. X2X module on a bus controller).

Reading an encoder over a network results in considerably higher dead time than reading an encoder directly on a drive. The encoder position of a network encoder is therefore only suitable for control under certain circumstances.

PLCopen axis states in which the function block is permitted to be enabled

Disabled

Function block

Parameter

Table: Parameter MC_BR_InitReceiveNetworkEnc

Data type MC_NET_ENC_INFO_REF and examples

Data type MC_NET_ENC_INFO_REF

Overview of parameters based on encoder type

Example with SinCos incremental encoder

I/O configuration X20DC1073 (sin/cos incremental encoder)

NetEncoderInfoRef.Type := mcINC_REF;

DeviceString := 'IF3.ST6.IF1.ST2';

Position := 'Position';

PositionTime := 'PosTime';

ReferencePosition := 'Reference';

ReferenceCount := 'RefCycle';

NetEncoderInfoRef.AdrDeviceString := ADR(DeviceString);

NetEncoderInfoRef.AdrPosition := ADR(Position);

NetEncoderInfoRef.AdrPositionTime := ADR(PositionTime);

NetEncoderInfoRef.AdrReferencePosition := ADR(ReferencePosition);

NetEncoderInfoRef.AdrReferenceCount := ADR(ReferenceCount);

Example with EnDat encoder

X20DS1928 I/O configuration (EnDat encoder)

NetEncoderInfoRef.Type := mcINC_ABS; (or mcABS)

DeviceString := 'IF3.ST1.IF1.ST2';

Position := 'PositionLW';

PositionHW := 'PositionHW';

PositionTime := 'PosTime';

EncoderStatus := 'EnDatError';

NetEncoderInfoRef.AdrDeviceString := ADR(DeviceString);

NetEncoderInfoRef.AdrPosition := ADR(Position);

NetEncoderInfoRef.AdrPositionHW := ADR(PositionHW);

NetEncoderInfoRef.AdrPositionTime := ADR(PositionTime);

NetEncoderInfoRef.AdrEncoderStatus := ADR(EncoderStatus);

Data type MC_NET_ENC_PARAM_REF

IncValueRangeLW/HW:

If the value range is larger than can be represented by the UDINT data type (2^32 = 4 294 967 296 ), this must be split into high and low ranges.

Details about the resolution of the encoder in bit or decimal form can be found in the data sheet for the encoder.

Measurement range of the encoder [Inc.] = Resolution [Inc./Rev] x multi-turn revolutions

Example 1 (23-bit multi-turn encoder)

EnDat multi-turn encoder with 23-bit (2^23 = 8 388 608 inc/rev) resolution and 12-bit (2^12 = 4096 rev) multi-turn revolutions

•Procedure:

•Multiply the resolution of the encoder with the number of multi-turn revolutions: 8 388 608 x 4096 = 34 359 738 368

•Compare whether this value > the UDINT limit (2^32 = 4 294 967 296). Answer for this example: Yes

•To simplify things, this number is converted to a hexadecimal (HEX) value (e.g. with Windows Calculator). In this example, the value is (2^35 =) 34 359 738 368 => 0x800000000 (HEX format).

•The hexadecimal format is better suited for grouping; 8 positions are grouped together: 0x(00000008) (00000000).

•This now results in the values "IncValueRangeLW" = 0x00000000 = 0 and "IncValueRangeHW" = 0x00000008 = 8.

Example 2 (13-bit multi-turn encoder)

EnDat multi-turn encoder with 13-bit (2^13 = 8 192 inc/rev) resolution and 12-bit (2^12 = 4096 rev) multi-turn revolutions

•Procedure:

•Multiply the resolution of the encoder with the number of multi-turn revolutions: 8192 x 4096 = 33 554 432

•Compare whether this value > the UDINT limit (2^32 = 4 294 967 296). Answer for this example: No

•This now results in the values "IncValueRangeLW" = 33 554 432 and "IncValueRangeHW" = 0x00000000 = 0.

Example 3 (programmable multi-turn encoder)

Multi-turn encoder with 500 000 inc/rev and 10 000 multi-turn revolutions

•Procedure:

•Multiply the resolution of the encoder with the number of multi-turn revolutions: 500 000 x 10 000 = 5 000 000 000

•Compare whether this value > the UDINT limit (2^32 = 4 294 967 296). Answer for this example: Yes

•To simplify things, this number is converted to a hexadecimal (HEX) value (e.g. with Windows Calculator). In this example, the value is 5 000 000 000 => 0x12A05F200 (hex HEX format)

•The hexadecimal format is better suited for grouping; 8 positions are grouped together: 0x(00000001) (2A05F200).

•This now results in the values "IncValueRangeLW" = 0x2A05F200 = 705 032 704 and "IncValueRangeHW" = 0x00000001 = 1.

Example 4 (incremental encoder)

When using an incremental encoder, only position counters with 16 or 32 bits are supported.

•Procedure

•Checking the data type of the position counter

•With a 16-bit data type (INT, UINT), "IncValueRangeLW" = 0x00010000 = 65536 and "IncValueRangeHW" = 0x00000000 = 0 are set.

•With a 32-bit data type (DINT, UDINT), "IncValueRangeLW" = 0x00000000 = 0 and "IncValueRangeHW" = 0x00000001 = 1 are set.

Data type MC_NET_ENC_CONFIG_REF

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