Publicidad
Idiomas disponibles
Idiomas disponibles
4.2.3 MESSAGE STRUCTURE
Frames are transmitted binary to achieve a higher density. The error checksum is represented by a
cyclic redundancy check (16 bit CRC; 2 byte) and messages start and end with a silent interval of at
least 3.5 character times. This is most easily implemented as a multiple of character times at the baud
rate that is being used on the network. The maximum pause that may occur between two bytes is 1.5
character times.
Start
≥ 3.5 char
t
0
at least 3.5 char
4.2.4 MEASURED DATA TRANSMISSION
Atlante Evo is an encoder able to provide three different kinds of output data as reported in the table
below.
Variable
AbsoluteDecAngle
NumberOfTurns
For all above measures, the sign represents the rotation direction.
12
Address
Function
8 bits
8 bits
Frame 1
at least 3.5 char
Fig. 2 - PDU structure and timing
Type
Int32
Int32
MODBUS message
Data
N x 8 bits
Frame 2
CRC Check
16 bits
Frame 3
3.5 char
4.5 char
Description
expressed in tenth of degrees
(e.g. 34567 means that, since
the last preset, the sensor axis
has been rotated by 3456.7
degrees)
number of turns since the last
preset
End
≥ 3.5 char
Publicidad
