Delta Tau Geo Brick, User Manual

Page: 100 / 294

Geo Brick Drive User Manual
Pinouts and Software Setup 100
Field Value Notes Channel Control Word
Command code =$38 Hex 0x38 for EnDat 2.2 only
$381425
Trigger Mode =0 Continuous trigger (typical)
Trigger Enable =1 Enable
Data Ready / Senc Mode =1 Enable serial driver
Protocol Bits =37 Hex 0x25
Control Registers Power-On PLC
The Global and Channel Control words have to be executed once on power-up
//=========================== NOTES ABOUT THIS PLC EXAMPLE ================================//
// This PLC example utilizes: - M5990 through M5991
//
- Coordinate system 1 Timer 1
// Make sure that current and/or future configurations do not create conflicts with
// these parameters.
//=========================================================================================//
M5990..5991->* ; Self-referenced M-Variables
M5990..5991=0 ; Reset at download
//=========================
GLOBAL CONTROL REGISTERS ======================================//
#define EnDatGlobalCtrl1_4 M5990 ; Channels 1-4 EnDat global control register
EnDatGlobalCtrl1_4->X:$78B2F,0,24,U ; Channels 1-4 EnDat global control register address
//========================
CHANNEL CONTROL REGISTERS ======================================//
#define Ch1EnDatCtrl M5991 ; Channel 1 EnDat control register
Ch1EnDatCtrl->X:$78B20,0,24,U ; Channel 1 EnDat control register Address
//=========
POWER-ON PLC EXAMPLE, GLOBAL & CHANNEL CONTROL REGISTERS ======================//
Open PLC 1 Clear
EnDatGlobalCtrl1_4=$3 ; Trigger at Phase, 4MHz serial Clock
–User Input
Ch1EnDatCtrl=$381425 ; Channel 1 EnDat control register –User Input
I5111=500*8388608/I10 while(I5111>0) endw
; ½ sec delay
Dis plc 1 ; Execute once on power-up or reset
Close
//=========================================================================================//
Note
Some EnDat2.2 Encoders do not support additional information with
the $38 (111000) command code. Try using $07 (000111) command
code if you cannot see data in the Serial Data Register A, or in the
position window (after setting up the Encoder Conversion Table).