http://www.renishaw.nl/nl/resolute-absolute-optische-encoder-protocollen-voor-seriele-communicatie--11018
I don't know if it would be worthwhile or not, but apparently Fanuc licenses their encoder protocols to various companies like Renishaw ... as mentioned in the link above. Dave http://www.renishaw.com/en/resolute-absolute-optical-encoder-fanuc-serial-protocol--11042 On 5/5/2011 11:02 PM, Jon Elson wrote: > Well, I have the first cut at the Fanuc absolute encoder test unit > working. I pretty much verified what I got off the oscilloscope, but in > better detail. I am guessing there may be other commands that can be > sent to the encoder to get other data and functions. But, anyway, what > this particular unit provides is : > A 15-bit angular position count and a 14-bit revolution count that are > reset the first time the index position is passed. > This can be read as a contiguous 29-bit signed binary number. > A 15-bit unsigned angular position that is relative to where the encoder > was when power was turned on. > This does not reset when it passes index. > These counts both have a bunch of LSB zeros to accommodate encoders with > higher resolution. > There seems to be an encoder model ID at the beginning and a 4-bit > checksum at the end. > I didn't find any sign of commutation info in the data stream I am > getting now, so it would be hard to make a servo drive move the motor to > the index position during the homing operation. But, I have seen the > traditional Fanuc C1-C2-C4-C8 commutation signals on the encoder's PCB > test points, so there probably is a different command that will make it > send this info. > > Jon > > ------------------------------------------------------------------------------ > WhatsUp Gold - Download Free Network Management Software > The most intuitive, comprehensive, and cost-effective network > management toolset available today. Delivers lowest initial > acquisition cost and overall TCO of any competing solution. > http://p.sf.net/sfu/whatsupgold-sd > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > > ------------------------------------------------------------------------------ WhatsUp Gold - Download Free Network Management Software The most intuitive, comprehensive, and cost-effective network management toolset available today. Delivers lowest initial acquisition cost and overall TCO of any competing solution. http://p.sf.net/sfu/whatsupgold-sd _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
