Mechanism of absolute rotary encoder

Rotary Encoders

40
 Mechanism of absolute rotary encoder

Rotary Encoders
Gray to binary conversion by PLC
Between TRD-NA and D4-450,440/D2-250,240

Gray to binary conversion by PLC is

restricted by its program execution
speed. At 20 ms/scan, set the encoder
speed to 8 rpm or less.

41
 Mechanism of absolute rotary encoder
Rotary Encoders

Between TRD-NA and D2-230

Gray to binary conversion by PLC is restricted by its exe-

cution speed. At 20 ms/scan, set the encoder speed to 8
rpm or less.

42
DirectLogic Software Help File Chapter 5: Standard RLL Instructions - Number Conversion

Gray Code (GRAY)

 230 The Gray code instruction converts a 16-bit gray code value to
a BCD value. The BCD conversion requires 10 bits of the
GRAY 1
 240 accumulator. The upper 22 bits are set to “0”. This instruction
 250-1 is designed for use with devices (typically encoders) that use 2
 260 the grey code numbering scheme. The Gray Code instruction
will directly convert a gray code number to a BCD number for
devices having a resolution of 512 or 1024 counts per
3
DS Used
revolution. If a device having a resolution of 360 counts per
HPP Used
revolution is to be used you must subtract a BCD value of 76 4
from the converted value to obtain the proper result. For a
device having a resolution of 720 counts per revolution you
must subtract a BCD value of 152.
5
In the following example, when X1 is ON the binary value represented by X10–X27 is loaded
into the accumulator using the Load Formatted instruction. The gray code value in the
6
accumulator is converted to BCD using the Gray Code instruction. The value in the lower 16
bits of the accumulator is copied to V2010. 7
DirectSOFT
X27 X26 X25 X12 X11 X10
8
X1 OFF OFF OFF ON OFF ON
LDF
X10
K16

Load the value represented

9
by X10–X27 into the lower
16 bits of the accumulator

Acc.
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
8
0
7
0
6 5
0 0
4 3
0 0
2
1
1
0
0
1
10
GRAY

Convert the 16 bit grey code

value in the accumulator to a
11
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
BCD value

OUT
V2010
Acc. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0
12
Copy the value in the lower
16 bits of the accumulator to
V2010
Gray Code

0000000000
BCD

0000 0 0 0 6
13
0000000001 0001 V2010
Handheld Programmer Keystrokes

$
STR
B
1
ENT
0000000011
0000000010
0002
0003
14
L D F B A B G 0000000110 0004
SHFT

SHFT
ANDST
G
6
R
ORN
3
A
5

0
Y
MLS
ENT
1 0 1 6
ENT
0000000111
0000000101
0005
0006
A
0000000100 0007
GX
OUT
SHFT V
AND
C
2
A
0
B
1
A
0
ENT
•
•
•
•
B
•
1000000001
•
1022 C
1000000000 1023

DL205 User Manual, 4th Edition, Rev. A 5–141

GRAY - Gray Code to Integer Page 1 of 2
DoMore Software Help File
Topic: DMD0024

GRAY - Gray Code to Integer

The Gray Code to Integer instruction (GRAY) converts a 16 bit Gray code value
to an integer value. This instruction is designed for use with devices that use
the gray code numbering scheme.

Gray codes are often used in linear encoders and rotary encoders in preference
to straightforward binary encoding. This avoids the possibility that, when several
bits change in the binary representation of an angle, a misread could result from
some of the bits changing before others. Rotary encoders especially benefit
from the cyclic nature of Gray codes, because the first and last values of the
sequence differ by only one bit.

The Gray Code to Integer instruction will directly convert a gray code number to an integer for devices having a resolution of
512 or 1024 counts per revolution.

For a device having a resolution of 360 counts per revolution you must subtract 76 from the converted value to obtain the
correct result (360-Excess-76 Gray Code).

For a device having a resolution of 720 counts per revolution you must subtract 152 from the converted value to obtain the
correct result (720-Excess-152 Gray Code).

Gray Code Binary Decimal

0000 0000 0
0001 0001 1
0011 0010 2
0010 0011 3
0110 0100 4
0111 0101 5
0101 0110 6
0100 0111 7
1100 1000 8
1101 1001 9
1111 1010 10
1110 1011 11
1010 1100 12
1011 1101 13
1001 1110 14
1000 1111 15
. ... ...
1 0000 0001 1 1111 1110 510
1 0000 0000 1 1111 1111 511
. ... ...
10 0000 11 1111 1022
0001 1110
10 0000 11 1111 1023
0000 1111

Parameters:

Note: Use the F9 key (Element Browser) or Down-Arrow key (Auto-Complete) at any time to see a complete list of the memory
locations that are valid in the current field of the instruction.

mk:@MSITStore:C:\Do-more%20Designer\Help\DmDesigner.CHM::/Instruction_Set/GRAY_Gray_Co... 10/29/2012
GRAY - Gray Code to Integer Page 2 of 2

Input Value - designates the memory location that contains the Gray code value. This can be any constant value or any
readable numeric location.

Output Value - designates a memory location to store the converted value. This can be any writable numeric location.

See Also:

z FREQCNT - Frequency Counter

z FREQTMR - Frequency Timer

z GRAY - Gray Code to Integer

z SCALE - Scale Value
z SEG - Hex/BCD to 7 Segment Display

z STR2INT - Convert String to Integer

z STR2REAL - Convert String to Real

z SWAPB - Swap Bytes

Rung Example:

mk:@MSITStore:C:\Do-more%20Designer\Help\DmDesigner.CHM::/Instruction_Set/GRAY_Gray_Co... 10/29/2012
 Topic: P220 and P144
Chapter 7: Instructions Productivity 3000 Software Help File

Data Handling
1 Absolute Encoder (ABSE) Instruction
Mnemonic (Keyboard Shortcut) = ABSE Icon/Button =
2 Purpose Decodes Bit Pattern from Gray Code or Binary Absolute Encoder.
3 Instruction
Parameters Parameter Parameter
Type Requirements Description

4 Enable Ladder Input

Level-driven. When Enable is ON, the instruction will
operate every scan. When Enable is OFF, instruction is
not solved and its outputs are not updated.
Selectable
5 Encoder Type Option Selects Gray Code or Binary Encoder type.

Selects one of these Resolutions for the Absolute Encoder:

6 Encoder Drop-down Must Have

32 pulses (5 bits)
64 pulses (6 bits)
512 pulses (9 bits)
720 pulses (10 bits)
Counts Menu Selection 128 pulses (7 bits) 1024 pulses (10 bits)
7 180 pulses (8 bits)
256 pulses (8 bits)
2048 pulses (11 bits)
4096 pulses (12 bits)
360 pulses (9 bits)
8 Input Boolean Tag /
Constant
Discrete Input Tags assigned to the Absolute Encoder
Inputs. The number of required Tags depends on selected
Encoder Counts.

9 Output Numerical Tag Current Encoder position.

Note: The Output Tag Value is not forced to zero when the Enable is turned OFF. The Output Tag will contain
10 the last value Written by the Instruction until it is overwritten by another Instruction or from an external
device.

11 Note: Tag Values are updated immediately as each Ladder Rung is executed, top to bottom. However, Tag
Values representing physical Outputs are only applied to the physical Output after the END statement of the
last Task to be scanned is reached. Outputs in Remote Base Groups have additional limitations regarding
12 Update Intervals.
Instruction
13 Configuration

14
A When Absolute Encoder Instruction is
selected the window shown on the right
B opens with defaults shown.

C
D

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7-138 Programming Software User Manual, 1st Ed., Rev. A
 Topic: P144
Chapter 7: Instructions

Parameter Configuration Table

Absolute Encoder Notes: 1
(ABSE) 2
Encoder Type Select Gray Code or Binary Encoder type.

Encoder Counts Select Encoder Resolution.

3
Input Enter a Value or Tag for each Input.
4
Output Select an Output Tag.

5
Application In the following example, the current table position is calculated based on the Encoder
Example Resolution and the bit pattern of the Gray Code bit pattern fed into the ABSE instruction. 6
7
8
9
10
11
12
13
14
Rung
Example A
B
C
D

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Programming Software User Manual, 1st Ed., Rev. A 7-139