RMS Technologies R325P DRIVER - Manual (Page 22)

Command
(Case
Sensitive)
Operand Example Description
ENCODER VERSION COMMANDS
EM 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.
EI 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.
EL 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.
CE +/- 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.
EA 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
EP 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