Delta RMC101 User Manual download pdf (Page 867)

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Appendix D: Status Field Reference

D-5

Example 2: A single-turn rotary absolute encoder with SSI feedback has 8192 counts per revolution.

The counts read 6000. The following equation converts the counts to degrees from top-dead-center:

Quadrature

For quadrature devices, the counts increase by one each time an A or B quadrature input toggles

such that the phase of A leads B. The counts decrease by one each time an A or B quadrature input

toggles such that phase of B leads A. The counts are set to zero whenever a position is set by a Zero

Position or Offset Positions command, but are otherwise relative.

Analog

The counts used for analog transducers are defined differently depending on the input range and

quantity type of the channel. The input ranges include 0-10V, ±10V, 0-5V, ±5V, and 4-20mA. Quantity

types include position, velocity, pressure, and force. Pressure, force, and velocity counts are signed

16-bit numbers, which range from 32,768 to 32,767, but position counts are unsigned 16-bit numbers,

which range from 0 to 65,535. Therefore, the charts below treat position counts differently.

There are three error conditions that can be triggered from the counts. These are described below:

• No Transducer

This condition occurs when the value read from the transducer is below a minimum value.

The minimum value depends on the input range and quantity type, and is shown in the

charts below. When this condition is detected, the No Transducer status bit is set, and the

axis will be halted.

• Transducer Overflow

This condition occurs when the analog reading is at its maximum value, which will be 32,767

for all analog axes except analog position inputs, in which case it will be 65,535. When this

condition is detected, the Transducer Overflow status bit will be set. However, the axis may

or may not be halted depending on the configuration of the Auto Stop parameter for this

axis.

• Transducer Noise

This condition occurs only for analog Position Control axes. For these axes, it is triggered

when the transducer feedback jumps by more than 100 position units per millisecond, for at

least six control loops in a row. The reason the value of 100 units/ms was chosen is that a

Position Control can only be commanded in the RMC to move 65,535 units/s, and therefore

64 units/ms. So a feedback speed above 100 units/ms is deemed to be noise. When this

condition is detected, the Transducer Noise status bit is set, and the axis is may or may not

halt depending on the configuration of the Auto Stop parameter.

The tables below list the counts given for the minimum input readings, plus the over- and under-range

readings for each input range.

0 to 10V

Pressure, Force, Velocity

Position

Input Counts Input Counts

1 2 ... 862 863 864 865 866 867 868 869 870 871 872 ... 950 951

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Delta RMC101 User Manual Page 867

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