Difference between revisions of "Mitsubishi OSE104 Serial Encoders"
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| 0x02 | | 0x02 | ||
| 7 | | 7 | ||
| − | | angle | + | | angle, 0x90? |
|- | |- | ||
| 0x1A | | 0x1A | ||
| 11 | | 11 | ||
| + | | angle, 0x02?, full revolutions, 0x00?, 0x90? | ||
|- | |- | ||
| 0x2A | | 0x2A | ||
| 9 | | 9 | ||
| − | | same as 0xA2? | + | | angle, full revolutions, 0x90? (same as 0xA2?) |
|- | |- | ||
| 0x32 | | 0x32 | ||
| 9 | | 9 | ||
| − | | same as 0xA2? | + | | angle, full revolutions, 0x90? (same as 0xA2?) |
|- | |- | ||
| 0x4A | | 0x4A | ||
| 11 | | 11 | ||
| + | | multiple values related to the angle? | ||
|- | |- | ||
| 0x52 | | 0x52 | ||
| 11 | | 11 | ||
| + | | multiple values related to the angle? | ||
|- | |- | ||
| 0x62 | | 0x62 | ||
| 9 | | 9 | ||
| + | | multiple values related to the angle? | ||
|- | |- | ||
| 0x7A | | 0x7A | ||
| 3 | | 3 | ||
| + | | empty response? | ||
|- | |- | ||
| 0x8A | | 0x8A | ||
| 6 | | 6 | ||
| − | | full revolutions | + | | full revolutions, 0x90? |
|- | |- | ||
| 0x92 | | 0x92 | ||
| 4 | | 4 | ||
| + | | 0x02? | ||
|- | |- | ||
| 0xA2 | | 0xA2 | ||
| 9 | | 9 | ||
| + | | angle, full revolutions, 0x90? | ||
|- | |- | ||
| 0xBA | | 0xBA | ||
| 7 | | 7 | ||
| + | | angle, 0x90? | ||
|- | |- | ||
| 0xC2 | | 0xC2 | ||
| 11 | | 11 | ||
| + | | multiple values related to the angle? | ||
|- | |- | ||
| 0xDA | | 0xDA | ||
| 11 | | 11 | ||
| + | | multiple values related to the angle? | ||
|- | |- | ||
| 0xEA | | 0xEA | ||
| 9 | | 9 | ||
| + | | angle, 0x00?, 0x90?, 0x00? | ||
|- | |- | ||
| 0xF2 | | 0xF2 | ||
| 3 | | 3 | ||
| + | | empty response? | ||
|- | |- | ||
| 0xF4 | | 0xF4 | ||
| 3 | | 3 | ||
| + | | empty response? | ||
|} | |} | ||
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[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] | ||
Latest revision as of 05:16, 15 April 2020
Overview
Proprietary serial encoders made by Mitsubishi meant to work with their MELDAS CNC controllers. It uses 2.5 Mbaud RS-422 to communicate with the controller. The protocol has been partially reverse engineered, and is supported by Rene Hopf's STMBL servo drive.
Specifications
Page 195 (III-58 in the PDF) of the BNP-C3000C(ENG) manual details the specifications for different variants.
Wiring Diagram
| Wire Color | Circular Pin | Mini-D Pin | Function |
|---|---|---|---|
| green | N | (shield) | (case GND) |
| gray | L | 17 | RQ- |
| orange | K | 7 | RQ+ |
| yellow | J | 16 | SD- |
| red | E | 9 | (battery) |
| blue | H | 6 | SD+ |
| black | R | 1,11 | 0V |
| white | S | 10,19,20 | +5V |
Bill of Materials
MC34051 RS-422 transceiver chip.
Protocol
The encoder uses a full duplex RS-422 UART to connect to the host:
| 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:
| 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: 0x0A 0x22 0x3A 0x42 0x5A 0x6A 0x72 0x82 0x9A 0xAA 0xB2 0xCA 0xD2 0xE2 0xF3 0xF5-0xFF
Online Resources
Mitsubishi MELDAS MDS-C1 Series AC Servo/Spindle Specifications Manual
stmbl/encm.c at master · rene-dev/stmbl