Code:
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Fanuc absolute encoder interface. Interfaces to Fanuc serial absolute encoders
DataReg0
0x1500 32 bit serial data 0..31 for FAbs channel 0
0x1504 32 bit serial data 0..31 for FAbs channel 1
0x1508 32 bit serial data 0..31 for FAbs channel 2
Writing to DataReg0 starts a transfer request on the selected
FanucAbs module
...
DataReg1
0x1600 32 bit serial data 32..63 for FAbs channel 0
0x1604 32 bit serial data 32..63 for FAbs channel 1
0x1608 32 bit serial data 32..63 for FAbs channel 2
...
DataReg2
0x1700 12 bit serial data 64..75 for FAbs channel 0 (right justified)
0x1704 12 bit serial data 64..75 for FAbs channel 1 (right justified)
0x1708 12 bit serial data 64..75 for FAbs channel 2 (right justified)
...
DataReg 2 is also used for optional setup bits and a cable error status bit
Bit 31 CableErr (R/O) If this bit is set, it indicates that the data
polarity is wrong or the cable is unplugged
Bits 24..30 Bit Length ((default 76) only writeable
if write setup enable bit is set
Bit 14..23 Request length register, default 8 Usec. only writeable
if write setup enable bit is set
Request length is request length register value * clocklow period
Data
Note: Fanuc serial encoder data is LSb first so is right shifted,
and ends up left justified in the three data registers
0x1800 Control register 0 for FAbs channel 0
0x1804 Control register 0 for FAbs channel 1
0x1808 Control register 0 for FAbs channel 2
...
Control register 0 fields:
Bit 15 Data Available set by transfer done, cleared by reading data 0 register
Bit 12..14 Timer channel select
Bit 11 Busy bit, set when transfer is started,
cleared when all data bits are recieved
Bit 10 RXGo set when recieve data start bit is detected
cleared when all data bits are received
Bit 9 TStartMask, if set, timer start transfer is allowed
Bit 8 GstartMask, if set global start transfer is allowed
Bit 7 Setup Write Enable register
The timer select register selects the desired timer output
from the DPLL timer module: 0=Ref 1=timer1, 2=timer2, 3=timer3, 4=timer4
The TStartMask must be set to enable timer starts.
0x1900 Control register 1 for FAbs channel 0
0x1904 Control register 1 for FAbs channel 1
0x1908 Control register 1 for FAbs channel 2
...
Control register 1
Bits 0..19 Bitrate select register. (default set for 1.024 MHz bit rate)
Only writeable if write setup enable bit is set
Bits 28..31 Digital filter setting in clock low counts (default 0xF)
Only writeble if write setup enable bit is set
Note a digital filter value of 0 will not work (only 1..15 are valid)
Receive bitrate is generated by a 20 bit phase accumulator.
Bitrate is: (Control_Register_1/1048576)*ClockLow
re-arranged this is Control_Register_1 = 1048576*Bitrate/ClockLow
0x1A00 Global start register/busy register. Writing the global start register
(data is dont-care) starts transfers on all FanucAbs modules that have their
global start mask set.
Reading the Global start register returns the busy status of each channel,
with bit# = channel# A channel is busy if the transfer is in progress or
the data is stale (its already been read)
Fanuc data format (76 bits): So far just for Aa64 (860-360-xxx)
bits 0..4 constant : encoder type?
bit 5 1=battery fail
bits 6,7 unknown
bit 8 1=un-indexed
bits 9..17 unknown, perhaps for higher res encoders
bits 18..33 16 bit absolute encoder data (0..65535 for one turn)
bits 34..35 unknown
bits 36..51 16 bit absolute turns count
bits 52,53 unknown
bits 54..63 10 bit absolute commutation encoder (four 0.1023 cycles per turn)
bits 64..70 unknown
bits 71..75 ITU CRC-5 (calculated MSB first)
These encoders are absolute if the battery backup is maintained since the
last homing. This can be determined by the status of the un-indexed bit,
at least until the encoder crosses index. Surprisingly
(well it surprised me anyway) the encoders maintain position with battery
power alone. It appears that they keep the LEDS/processor alive with a
few uA of battery power (probably low duty cycle LED pulsing/analog circuits
power cycling). This can be verified by reading the battery current and then
moving the encoder, it goes from a few uA to many mA with a slow encoder move.
The commutation track is always absolute so can be used for commutation
data regardless of the index status. Note that the commutation track
seems to be interpolated so is not better than maybe 1% accuracy
Note that the timing/baudrate are all precalculated so should not need
changing, but can be changed by setting the setup enable bit in control reg 0
