Sanyo Denki ABS encoder
24 May 2023 08:34 #272082
by PVal
Replied by PVal on topic Sanyo Denki ABS encoder
It actually helped. I had a small error in my command string, but now it's fixed. I tried sending the command to the amplifier to see if I can get any response from it ->amplifier sent back three fields (3x18bit) as described in the datasheet
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First field is information field and after that there are two data fields. First data field is defining: D0[0:15]=ABS[0:15] and second is: D1[0:7]=ABS[16:23], D1[8:15]=CRC[0:7]. Position data is then read: ABS [0:16] = ST [0:16] and for full data request code (I will try this later): ABS [17:32] = MT [0:15].
I assume that abs_encoder.c should be modified for interperting correct bits as position data?
Maybe this line of code (line 243):
char* AA64 = "%5pbatt_fail%1b%2ppos_invalid%1b%9plow%16l%2pencoder%16h%2pcomm%10u%7pcrc%5u";
How this is defining the bits? I can see that there are different definitions for position, commutation, etc. but I could use some clarification on this.
And are there also some other files that I should modify for interperting the ST (17bit) value?
First field is information field and after that there are two data fields. First data field is defining: D0[0:15]=ABS[0:15] and second is: D1[0:7]=ABS[16:23], D1[8:15]=CRC[0:7]. Position data is then read: ABS [0:16] = ST [0:16] and for full data request code (I will try this later): ABS [17:32] = MT [0:15].
I assume that abs_encoder.c should be modified for interperting correct bits as position data?
Maybe this line of code (line 243):
char* AA64 = "%5pbatt_fail%1b%2ppos_invalid%1b%9plow%16l%2pencoder%16h%2pcomm%10u%7pcrc%5u";
How this is defining the bits? I can see that there are different definitions for position, commutation, etc. but I could use some clarification on this.
And are there also some other files that I should modify for interperting the ST (17bit) value?
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