Egb / egb2

This electronic gearbox function generates an absolute position output from an absolute position input that has had a ratio applied to it.

The output is calculated from the following formula:

XRef% = Xcurr% + (ScanIncrements% * RatioNum / RatioDen%)

Arguments

Ctrl%

Bitmapped control word. This is used only with EGB2.

Xin%

Absolute position reference input.

RatioNum%

Ratio numerator. Used in conjunction with the denominator to specify the ratio. This allows improper fractions to be specified as a ratio (e.g. 1/3). This has a signed 32bit range therefore precise ratios can be specified. For example, a ratio of 0.00000001 can be specified by setting RatioNum% to 1 and RatioDen% to 100000000.

RatioDen%

Ratio denominator. Used in conjunction with the numerator to specify the Ratio. Only values of 1 or above should be used for the denominator.

Xcurr%

Current absolute position input. This input is used to give the block the current absolute position output. It can be used to switch between different position references on-the-fly or force the position loop to a specific value.

Return Values

vRef%

Current velocity. The current speed in counts per second. This is only available with EGB2.

XRef%

Current output position. Equal to Xcurr% + the ratioed reference increments.

Example

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EnableCanTrips

This function can be used to indicate which the events on which a UD77-CAN or SM-CAN should trip the drive.

Arguments

Trig%

This specifies the trip mode for the option module. For both UD77-CAN and SM-CAN the values passed to Trig% have the meanings shown in the following table.

With SM-CAN, the Unidrive SP option slot can also be specified using a value inthe format SB. B has the same meanings as for UD77-CAN, but S can be used to specify that the EnableCANTrips command is to be directed towards a specific option slot. S has the following meanings.

Return Values

Q%

The status of the operation.

Value	Meaning
0	The operation failed.
1	The operation succeeded.

Target/ Language Restrictions

Only available on SM-Applications and SM-Applications Lite and UD77-CAN.

See Also

For further information, refer to the user guides for the UD77-CAN and SM-CAN option modules.

• CANConfigEvent

• CANGetNodeAddr

• CANReady

• CANSetup

• CANStatus

• CANStatusAll

• GETCAN

• PUTCAN

• ResetCANTimer

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Encoder4/encoder8 - Binary Encoder Blocks

The Encoder blocks constructs a binary word from either 4 or 8 Boolean inputs. The output is a binary word : with Encoder4 if input is 1001, the output will be equal to 9.

Arguments

IN0% to IN7%

The inputs bits to be encoded into a word. Only set values in the lowest bit of each input.

Base% (ENCODER8 only) - 0 to 3

Base% can be used to shift the bits into a specific byte of the output Q%.

Return Values

Q%

The encoded output.

Example

Target/ Language Restrictions

None.

See Also

• DECODER4/DECODER8

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