FC_PhyEncSetPosition - General Information

Overview

Type:	Function
Available as of:	SystemInterface_1.32.6.0
Versions:	Current version

Task

Modify the encoder position of the physical encoder (SinCos encoder).

Description

Use this function to modify the encoder position of the physical encoder (SinCos encoder). The function only sends one job. This job is processed by a system task. This task communicates with the physical encoder via a serial interface.

The position that is transferred with the parameter i_lrPosition of the function, is transmitted via the serial interface of the encoder and stored in the encoder non-volatile memory. Then the encoder rereads the position and the parameters InitPosition and EncoderPosition are updated.

Use the function FC_PhyEncGetCmdState() to determine if the job was completed.

WARNING
	DELAY WHEN WRITING THE POSITION VIA THE SERIAL INTERFACE Ensure that the position read by the encoder remains unchanged during the write process. Failure to follow these instructions can result in death, serious injury, or equipment damage.

Interface

Input	Data type	Description
i_stEncId	ST_LogicalAddress	Logical address of the encoder
i_lrPosition	LREAL	Absolute encoder position that has to be set in the encoder

Return Value

Data type	Description
BOOL	TRUE: job started FALSE: job interface busy (try again) or error

Examples

Set the encoder position to 25 units.

FeedConstant = 360 units/rotation

EncoderType = 16#7; that is, SinCos Multiturn with 4096 rotations

Position 0 ... 1,474,560 units

 CASE lState OF 
1:

   FC_PhyEncSetPosition(_PMEnc, 25.0); 
   lState:=2; 
2:

   IF FC_PhyEncGetCmdState() = TRUE THEN 
      lState:=3; 
   END_IF; 
3:

   ; 
END_CASE;

Result

The encoder position of the physical encoder is set to 25 units. This value is also displayed in the EncoderPosition parameter of the physical master encoder.