When using the OMRON CP1H or CS/CJ plc to connect to the absolute encoder, the GRY command is used to perform the BCD or angle data for the Gray code. GRY instruction has three control words to be set
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The C parameter sets the converted data format and encoder resolution. The resolution setting needs to be higher than the resolution of the actual connected absolute encoder. The C+2 setting parameter is used when using the Gray residual code. The code before and after the Gray code can only differ by one data, so the general Gray code is the power of 2. For those encoders whose resolution is not two, the Gray residual code is required. Gray's code is symmetrical. For example, a 360-resolution absolute encoder, the range of the Gray residual code is 76 to 436.
The starting address of the Gray residual code = (maximum resolution - actual resolution) / 2 = (512 - 360) / 2 = 76.
The highest bit of the C+2 parameter is the resolution of the encoder, and the 0-3 bits of the C+2 parameter set the first address of the Gray code. For example, a 360 resolution encoder, C+2 can be set to #104C.
The C+1 parameter sets the zero offset of the output code. When using the 360° mode output, the data of the zero offset needs to be multiplied by 3.5 (3600 ÷ 1024 = 3.515625) to be the actual angle.
January 10, 2023