en:software:devices:abscnt

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en:software:devices:abscnt [2016/09/26 14:48] – [5. Elenco Parametri] qem103en:software:devices:abscnt [2019/08/29 17:01] (current) – external edit 127.0.0.1
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 +====== DEVICE ABSCNT ======
 +
 +
 +====== - Introduction ======
 +
 +The internal ABSCNT device manages the acquisition and manipulation of the position from absolute sensors. These sensors are typically absolute encoders with different types of output interface (parallel, SSI, etc.)
 +The main features of the device are:
 +
 +  *control of the data quality from the transducer
 +  *support for binary or gray encoding data
 +  *sexagesimal representation of read data (angles in degrees and early)
 +  *internal zero for the absolute position
 +  *generating an incremental count to be used by other devices
 +
 +<html><pagebreak /></html>
 +
 +====== - Declaration ======
 +
 +For use the device you must declare it in the INTDEVICE section of the unit configuration.
 +
 +<code QCL>
 +;--------------------------------- 
 +; Internal devices Declaration
 +;--------------------------------- 
 +INTDEVICE 
 +...
 +<nome>  ABSCNT  TCamp  IAbsCont  ICont
 +
 +</code>
 +
 +Dove:
 +
 +^Field name ^ Description ^ Example ^ Note ^
 +| <nome> | Device name | Axe | - |
 +| ANPOS2 | Keyword that identifies the device ABSCNT | - | - |
 +| TCamp | Device sampling time in milliseconds | 4 | - | 
 +| IAbsCont | Absolute counter number (Verify the HW documentation \\ of the product for the correct value to set)| 1 | |
 +| ICont | Incremental counter address generated by the device (always 1.CNTx)| 1.CNT01 | If entering the value X. X field is ignored |
 +
 +^:important:^All fields of the Declaration are mandatory and must be present on the same line. Set "X.X" or "X" if a resource is not available or cannot be used. Disable a resource means disable all functionality of the devices that use it.^
 +
 +~~REFNOTES~~
 +====== - Operation ======
 +
 +Operation of the device is illustrated with the following diagram:
 +
 +{{software:devices:abscnt:abscnt_001.png?800&direct}}
 +
 +
 +===== - Communication configuration =====
 +
 +The "Communication configuration" block Configure Protocol blocks appropriately in accordance with the number of bits to be captured, with the number of bits to "discard", with the capture mode, etc.
 +
 +===== - SSI protocol interface =====
 +
 +The "SSI protocol interface" block executes the acquisition of data from a transducer with SSI protocol. The read data should then be manipulated to get information by absolute position.
 +
 +===== - Communication error control =====
 +
 +The "Communication error control" block does the control of the "quality" of data acquired by the transducer. Controls can be equal and/or, for transducers that require it, the verification of certain bits of error present in the frame.
 +
 +===== - Speed checking =====
 +
 +The "Speed checking" block check the rotational speed in RPM compared to the maximum and shall report any overshoot. His task is to detect errors in the acquisition of the data.
 +
 +===== - Reversing =====
 +
 +The "Reversing" block manages the reversal of direction of rotation that causes the increase in location determined by//st_cntdir//.
 +
 +===== - Module =====
 +
 +The "Module" block manipulates the position acquired and subtracts the offset to bring it back within the range 0÷(//pulserev //x //revnum//) quando //signenab// be worth 0 and within the range -(//pulserev// x //revnum//)/2 ÷ (//pulserev// x //revnum//)/2 when //signenab// be worth 1.
 +
 +===== - Position conversion =====
 +
 +The "Position conversion" block converts from value bits position at value position in units of measurement. The data obtained (//posit//) can have decimal or sexagesimal representation depending on the setting parameter //posittype//.
 +====== - Notes on the device operation ======
 +
 +  *It is possible to use the device for generating a virtual counter by setting the address ICont on the device declaration; because is the "virtual" counter you will always find in slot 1 (CPU ID). This feature makes it possible to use a translator of absolute type with counting and positioning devices that use incremental translators only (hardware resource CNTxx). Important: the "virtual" counter will update each device or sampling every 1ms depending on the setting of the parameter value //updatemode//.
 +
 +  *When you set the sexagesimal representation the two least significant digits of the parameter //posit// indicate the 'minute', the other indicate the 'degrees'. With the sexagesimal representation, you must also set the parameters //pulse// and //measure// in particular on //measure// the value set must be in 'minute'. For example if we had an encoder with 10000 pulses and we wanted to get the angular position in 'degrees' and 'minutes' should set //pulse//=10000 and //measure//=360x60=21600.
 +  
 +  
 +<html><pagebreak /></html>
 +
 +====== - Parameters list ======
 +
 +===== - prot =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Protocol type|
 +|dim=Byte|
 +|default=Retentive|
 +|accesstype=Read - Write|
 +|um=-|
 +|id=-|
 +|range=0÷0|
 +|wrcond= st_updenab = 0 |
 +|longdescr=Defines the protocol type used for acquisition of position transducer:
 +
 +0= SSI \\}}
 +---- 
 +<html><pagebreak /></html>
 +
 +===== - framebits =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=SSI Bits frame number|
 +|dim=Byte|
 +|default=Retentive|
 +|accesstype=Read - Write|
 +|um=-|
 +|range=1÷63|
 +|id=-|
 +|wrcond= st_updenab = 0 |
 +|longdescr=Is the total number of bits that make up the SSI frame.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - leadingbits=====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Non-significant bits in the SSI frame number|
 +|dim=Byte|
 +|default=Retentive|
 +|accesstype=Read - Write|
 +|um=-|
 +|id=-|
 +|range=1÷15||
 +|wrcond= st_updenab = 0 |
 +|longdescr=It is the number of bits, starting from the MSbit, which are meaningless for the reconstruction of the given by the transducer.}}
 +----
 +<html><pagebreak /></html>
 +===== - trailingbits =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=The frame number insignificant SSI frame queued|
 +|dim=Byte|
 +|default=Retentive|
 +|accesstype=Read - Write|
 +|um=-|
 +|id=-|
 +|range=1÷15||
 +|wrcond= st_updenab = 0 |
 +|longdescr=It is the number of bits, starting from the LSbit, which are meaningless for the reconstruction of the given position from the transducer.}}
 +----
 +<html><pagebreak /></html>
 +===== - codetype =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Data code |
 +|dim=Byte|
 +|default=Retentive|
 +|accesstype=Read - Write|
 +|um=-|
 +|id=-|
 +|range=0÷1||
 +|wrcond= st_updenab = 0 |
 +|longdescr=It is the type of encoding of the data acquired by the position transducer:
 +
 +0: Binary code \\ 1: Gray code \\}}
 +
 +----
 +<html><pagebreak /></html>
 +===== - datalogic =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Logical data type |
 +|dim= Byte |
 +|default= Retentive|
 +|accesstype= Read |
 +|um= - |
 +|id=- |
 +|range= 0÷1 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=Indicates the type of data captured by the transducer position:
 +
 +0: normal \\
 +1: inverse \\}}
 +----
 +<html><pagebreak /></html>
 +===== - par =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Parity check |
 +|dim= Byte |
 +|default= Retentive |
 +|accesstype= Read - Write |
 +|um=- |
 +|id=- |
 +|range= 0÷2 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=Indicates the type of parity check on SSI data:
 +
 +0: disable \\
 +1: odd parity \\
 +2: even parity \\}}
 +----
 +<html><pagebreak /></html>
 +===== - parbitpos =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Bit position equal |
 +|dim= Byte |
 +|default= Retentive |
 +|accesstype= Read - Write |
 +|um=- |
 +|id=- |
 +|range= 0÷31 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=Location of parity within the frame. This parameter is meaningful only if //par// > 0.}}
 +----
 +<html><pagebreak /></html>
 +
 +===== - err1pos =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Bit position error 1 |
 +|dim= Byte |
 +|default= Retentive |
 +|accesstype= Read - Write |
 +|um=- |
 +|id=- |
 +|range= 0÷31 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=Bit position 1 error within the frame. Parameter that is currently not implemented.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - err2pos =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Bit position error 2 |
 +|dim= Byte |
 +|default= Retentive |
 +|accesstype= Read - Write |
 +|um=- |
 +|id=- |
 +|range= 0÷31 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=Bit position 1 error within the frame. Parameter that is currently not implemented.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - updatemode =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Scan mode data|
 +|dim= Byte |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um=- |
 +|id=- |
 +|range= 0÷1 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=It is the temporal mode of acquisition of the transducer data:
 +
 +0: each sample time device ABSCNT \\
 +1: continuous \\
 +}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - clockrate ====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Clock frequency used from the SSI protocol|
 +|dim= Byte |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um=-|
 +|id=- |
 +|range= 0÷3|
 +|wrcond= st_updenab = 0 |
 +|longdescr=Select the clock frequency used in SSI protocol:
 +
 +0: 1MHz \\
 +1: 500KHz \\
 +2: 250KHz \\
 +3: 125KHz \\ }}
 +----
 +<html><pagebreak /></html>
 +
 +===== - monofloptime =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Monoflop time|
 +|dim= Byte |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um= uS (microseconds)|
 +|id=- |
 +|range= 0÷127|
 +|wrcond= st_updenab = 0 |
 +|longdescr=Indicates the time in monoflop microseconds. This is the time that waits between two acquisitions with SSI protocol, when updating the data is continuous(//updatemode// = 1). The set value will be rounded up to a multiple of the period of clock frequency (inverse of //clockrate//). If the value set is not obtainable from the device because they are too big and reports a warning.
 +}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - pulserev =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Number of positions per revolution|
 +|dim= Long |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um=-|
 +|id=- |
 +|range= 1÷999999|
 +|wrcond= st_updenab = 0 |
 +|longdescr=Number of positions per revolution of the transducer (plate data).}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - revnum =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Number of turn|
 +|dim = Word |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um=- |
 +|id=- |
 +|range= 1÷999999 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=It is managed by the transducer speed shown on the rating plate data. The value is significant when using multi transducers, for the transducers singleturn set the value 1.}}
 +----
 +<html><pagebreak /></html>
 +
 +===== - signenab =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Sign enabling|
 +|dim = Byte |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um=- |
 +|id=- |
 +|range= 0÷1|
 +|wrcond= st_updenab = 0 |
 +|longdescr=Enables the interpretation of data acquired from the transducer with sign.
 +
 +0: only positive position \\
 +1: positive and negative position \\}}
 +----
 +<html><pagebreak /></html>
 +===== - posittype =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Representation posit parameter type|
 +|dim = Byte |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um=-|
 +|id=-|
 +|range= 0÷1 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=Defines the representation type of the value of the parameter position //posit//:
 +
 +0: decimal \\
 +1: sexagesimal (degrees and minutes) \\}}
 +----
 +<html><pagebreak /></html>
 +
 +===== - measure =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Reference measure for the position factor calculating|
 +|dim=Long|
 +|default=Retentive|
 +|accesstype=Read - Write|
 +|um=Um|
 +|id=-|
 +|range=1÷999999|
 +|wrcond= |
 +|longdescr=Indicates the space, in units of measurement, routes to get primary impulses set in pulse parameter. This parameter is used to calculate the conversion factor between primary impulses and units.\\
 +
 +posit = (encoder ⋅ measure) / pulse\\
 +
 +
 +
 +The ratio measure/pulse must be a value between 0.00935 and 1.}}
 +
 +---- 
 +<html><pagebreak /></html>
 +
 +===== - pulse =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Number of impulses for calculating the position factor|
 +|dim=Long|
 +|default=Retentive|
 +|accesstype=Read - Write|
 +|um=-|
 +|range=1÷999999|
 +|id=-|
 +|wrcond= - |
 +|longdescr=Indicates the number of pulses (1 encoder pulse = 4 primary pulses) that will generate the transducer in both directions to get a movement of //measure//. This parameter is used to calculate the conversion factor between primary impulses and units. \\
 +
 +posit = (encoder · measure) / pulse \\
 +
 +The ratio measure/pulse must be a value between 0.00935 and 1.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - maxvel =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Maximum speed|
 +|dim = Word |
 +|default=Retentive|
 +|accesstype= Read - Write |
 +|um= RPM |
 +|id=- |
 +|range= 0÷32767 |
 +|wrcond= st_updenab = 0 |
 +|longdescr=Indicates the maximum speed expressed in revolutions per minute (RPM) where to ride is the position value in units corresponding to the impulses that are defined in //pulserev//. This parameter is used to control the quality of the value acquired by the transducer; basically the device check that between two consecutive values obtained there is a change in position "consistent" with the speed and that this variation does not exceed that which would be achieved when the transducer rotates the value set on the parameter. Setting value 0 disables the control.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - encoder =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Bit absolute position value|
 +|dim = Long |
 +|default= 0 |
 +|accesstype= Read - Write |
 +|um=- |
 +|id=- |
 +|range=- |
 +|wrcond= - |
 +|longdescr=It is the bits value ( encoder positions) of the transducer absolute position. The value assumed by this parameter starts from 0 to(//pulserev// · //revnum//) when //signenab// be worth 0 and it goes -(//pulserev//· //revnum//)/2 to (//pulserev// · //revnum//)/2 when //signenab// be worth 1.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +
 +===== - posit =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=UM value in absolute position|
 +|dim = Long |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um= Um |
 +|id= |
 +|range= |
 +|wrcond= - |
 +|longdescr=It's the value expressed in units of absolute position of transducer. Is obtained by the following formula: //encoder// · //measure// / //pulse//.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - par01 =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=01 parameter|
 +|dim = Long |
 +|default= 0 |
 +|accesstype= Read - Write |
 +|um=-|
 +|id=-|
 +|range= |
 +|wrcond= - |
 +|longdescr=Parameter 01. Not used, reserved for other use.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - par02 =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=02 parameter|
 +|dim = Long |
 +|default= 0 |
 +|accesstype= Read - Write |
 +|um=-|
 +|id=-|
 +|range= |
 +|wrcond= - |
 +|longdescr=Parameter 02. Not used, reserved for other use.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - par03 =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=03 parameter|
 +|dim = Long |
 +|default= 0 |
 +|accesstype= Read - Write |
 +|um=-|
 +|id=-|
 +|range= |
 +|wrcond= - |
 +|longdescr=Parameter 03. Not used, reserved for other use.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - par04 =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=04 parameter|
 +|dim = Long |
 +|default= 0 |
 +|accesstype= Read - Write |
 +|um=-|
 +|id=-|
 +|range= |
 +|wrcond= - |
 +|longdescr=Parameter 04. Not used, reserved for other use.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - ret01 =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=retentive parameter 01|
 +|dim = Long |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um=-|
 +|id=-|
 +|range= |
 +|wrcond= - |
 +|longdescr=Retentive 01 parameter. Not used, reserved for other use.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - ret02 =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=retentive parameter 02|
 +|dim = Long |
 +|default= Retentive|
 +|accesstype= Read - Write |
 +|um=-|
 +|id=-|
 +|range= |
 +|wrcond= - |
 +|longdescr=Retentive 02 parameter. Not used, reserved for other use.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== - errcode =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Identification code of the error.|
 +|dim = Byte |
 +|default= 0 |
 +|accesstype= Read |
 +|um= - |
 +|id=-|
 +|range= - |
 +|wrcond= - |
 +|longdescr=Indicates the type of error detected by the device. For more information see the section.}}
 +----
 +<html><pagebreak /></html>
 +
 +
 +===== - errvalue =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Identifying the cause of the error code |
 +|dim = Byte |
 +|default= 0 |
 +|accesstype= Read |
 +|um= - |
 +|id= -|
 +|range= - |
 +|wrcond= - |
 +|longdescr= Indicates the type of the error detected by the device. For more information see the section. }}
 +----
 +<html><pagebreak /></html>
 +
 +
 +===== - wrncode =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Code warning identification|
 +|dim = Byte |
 +|default= 0 |
 +|accesstype= Read |
 +|um= - |
 +|id= -|
 +|range= |
 +|wrcond= - |
 +|longdescr=Indicates the type of warning reported by device. For more information see the section.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - wrnvalue =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Identification code of the cause of the warning|
 +|dim = Byte |
 +|default= 0 |
 +|accesstype= Read |
 +|um= - |
 +|id= |
 +|range= - |
 +|wrcond= - |
 +|longdescr=Indicates the cause of the warning reported by device. For more information see the section.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +
 +====== - State lists ======
 +
 +===== - st_updenab =====
 +
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr=Enabling status update|
 +|default= 0|
 +|id=- |
 +|longdescr=Indicates that the acquisition of the data by the transducer is activated and adjusted by the parameter //updatemode//.
 +
 +0 = acquisition disabled.\\
 +1 = acquisition enabled.\\
 +}}
 +----
 +<html><pagebreak /></html>
 +
 +===== - st_cntrev =====
 +
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr=State of counterclockwise to increase the count.|
 +|default= Retentive|
 +|id=- |
 +|longdescr=Indicates the direction of rotation that causes the increase of the counter.
 +
 +0 = clockwise.\\
 +1 = counterclockwise.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +
 +===== - st_warning =====
 +
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr=Warning presence|
 +|default= 0|
 +|id=- |
 +|longdescr=Indicates the status of warning, to recognize the type of warning you must refer to //wrncode// and //wrnvalue// variables.
 +
 +0 = warning not present.\\
 +1 = warning present.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - st_error =====
 +
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr=There is an error.|
 +|default= 0|
 +|id= |
 +|longdescr=Indicates the error status of the device, in order to recognize the type of error you must refer to //errcode// and //errvalue// variables.
 +
 +0 = error not present.\\
 +1 = error present.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - st_01 =====
 +
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr=Generic status 1|
 +|default= 0|
 +|id=- |
 +|longdescr=Available for future use.}}
 +----
 +
 +===== - st_02 =====
 +
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr=Generic status 2|
 +|default= 0|
 +|id=- |
 +|longdescr=Available for future use.}}
 +----
 +
 +===== - st_03 =====
 +
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr=Generic status 3|
 +|default= 0|
 +|id=- |
 +|longdescr=Available for future use.}}
 +----
 +
 +===== - st_04 =====
 +
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr=Generic status 4|
 +|default= 0|
 +|id=- |
 +|longdescr=Available for future use.}}
 +----
 +<html><pagebreak /></html>
 +
 +
 +====== - Commands List ======
 +
 +===== - UPDENAB =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond=st_updenab = 0 |
 +|shortdescr=Enabling update count.|
 +|id=-|
 +|longdescr=Enable the acquisition of position from the transducer according to the //updatemode// parameter.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - UPDDISAB =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond=st_updenab = 1 |
 +|shortdescr=Disabling update count.|
 +|id=-|
 +|longdescr=Disable the transducer position acquisition. With update disabled you can modify communication parameters.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - CNTREV =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond=st_updenab = 0 |
 +|shortdescr=Count increment counterclockwise direction.|
 +|id=-|
 +|longdescr=Sets the direction by which to increment the count to counterclockwise.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - CNTDIR =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond=st_updenab = 0 |
 +|shortdescr=Time count increment direction.|
 +|id=-|
 +|longdescr=Sets the direction by which to increment the count for clockwise.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - RSERR =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 1 |
 +|shortdescr= State error reset.|
 +|id=-|
 +|longdescr=State error reset (//st_error//) if no longer on the error condition.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - RSWRN =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_warning = 1 |
 +|shortdescr= Warning state reset.|
 +|id=-|
 +|longdescr=Reset the //st_warning// state. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - CMD01 =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= - |
 +|shortdescr= Generic command 1.|
 +|id=-|
 +|longdescr=Available for future use.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - CMD02 =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= - |
 +|shortdescr= Generic command 2.|
 +|id=-|
 +|longdescr=Available for future use.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - CMD03 =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= - |
 +|shortdescr= Generic command 3.|
 +|id=-|
 +|longdescr=Available for future use.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== - CMD04 =====
 +
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= - |
 +|shortdescr= Generic command 4.|
 +|id=-|
 +|longdescr=Available for future use.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +
 +====== - Errors and Warnings ======
 +
 +===== - Errors =====
 +
 +When the device fails to perform operations are caused by incorrect programming by the user reports this condition through activation of the //st_error// state. The device makes available, through the//errcode//and//errvalue//parameters, some information for a better understanding of the type of error and which condition generated it. This information and the error state//st_error//persist until you run the//RSERR//command that deletes them.
 +The following table specifies the values assumed by //errcode//:\\
 +^//errcode// ^Description ^
 +|0|No error|
 +|1|Generic error|
 +|2|Hardware error: the hardware does not support absolute counter.|
 +
 +Through the //errvalue// parameter you can get more detailed information about the error.\\
 +Currently, the//errvalue//parameter is not used and is always 0.
 +
 +
 +===== - Warnings =====
 +
 +When setting a parameter of device is not accepted or when a command cannot execute the device reports this condition through activation of the State//st_warning//.
 +The device makes available, through the//wrncode//and//wrnvalue//parameters, some information to better understand the type of warning and which condition generated it.\\
 +This information and the status of warning//st_warning//persist until you run the//RSWRN//command that deletes them.\\
 +The following table specifies the values assumed by //wrncode//:\\
 +
 +^//wrncode// ^Description ^
 +|0|No warning.|
 +|1|the parameter is accepted: writing about a parameter is not successful.|
 +|2|command not executed.|
 +|3|speed too high.|
 +|4|parity error.|
 +
 +Using the//wrnvalue//parameter you can get more detailed information about the warning.\\
 +^//wrnvalue// ^Description ^
 +|0|no additional information about the warning.|
 +|1|operation is not enabled.|
 +|2|given out of range.|