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Mitsubishi OSE104 Serial Encoders (view source)
Revision as of 05:16, 15 April 2020
, 05:16, 15 April 2020added Delta Tau Mitsubishi encoder protocol link
MC34051 RS-422 transceiver chip.
MC34051 RS-422 transceiver chip.
== Protocol ==
The encoder uses a full duplex RS-422 UART to connect to the host:
{| class="wikitable"
! Baud Rate
| 2,500,000
|-
! Data Bits
| 8
|-
! Stop Bits
| 1
|-
! Parity
| none
|}
For interacting with the encoder from a PC, a USB to serial supporting a higher than usual baudrate must be used. A convenient converter that also has native RS-422 support is a [[MaxLinear XR21B1420IL28-0A-EVB USB to RS-232/422/485 Evaluation Board]].
Requests from the host seem to be a single byte, and the response is multi-byte with a checksum. For recognized commands the response's first byte is the request byte echo'd back, and it seems for unrecognized commands it has a default response. Here is a list of known commands:
{| class="wikitable"
! Request
! Response Length
! Description
|-
| 0x02
| 7
| angle, 0x90?
|-
| 0x1A
| 11
| angle, 0x02?, full revolutions, 0x00?, 0x90?
|-
| 0x2A
| 9
| angle, full revolutions, 0x90? (same as 0xA2?)
|-
| 0x32
| 9
| angle, full revolutions, 0x90? (same as 0xA2?)
|-
| 0x4A
| 11
| multiple values related to the angle?
|-
| 0x52
| 11
| multiple values related to the angle?
|-
| 0x62
| 9
| multiple values related to the angle?
|-
| 0x7A
| 3
| empty response?
|-
| 0x8A
| 6
| full revolutions, 0x90?
|-
| 0x92
| 4
| 0x02?
|-
| 0xA2
| 9
| angle, full revolutions, 0x90?
|-
| 0xBA
| 7
| angle, 0x90?
|-
| 0xC2
| 11
| multiple values related to the angle?
|-
| 0xDA
| 11
| multiple values related to the angle?
|-
| 0xEA
| 9
| angle, 0x00?, 0x90?, 0x00?
|-
| 0xF2
| 3
| empty response?
|-
| 0xF4
| 3
| empty response?
|}
Other possible commands are: <code>0x0A 0x22 0x3A 0x42 0x5A 0x6A 0x72 0x82 0x9A 0xAA 0xB2 0xCA 0xD2 0xE2 0xF3 0xF5-0xFF</code>
== Online Resources ==
== Online Resources ==
[https://github.com/rene-dev/stmbl/blob/master/src/comps/encm.c stmbl/encm.c at master · rene-dev/stmbl]
[https://github.com/rene-dev/stmbl/blob/master/src/comps/encm.c stmbl/encm.c at master · rene-dev/stmbl]
[https://github.com/rene-dev/stmbl/wiki/Mitsubishi-encoders Mitsubishi encoders · rene-dev/stmbl Wiki]
[http://www.deltatau.com/manuals/pdfs/Acc-84E.pdf#page=30 Delta Tau Accessory 84E Universal Serial Encoder Interface]