Geo Brick Drive User Manual
Pinouts and Software Setup
108
Setup Summary
Encoder Conversion Table Processing:
Process
Technique 1
Technique 2
Technique 3
ECT for
Position
From serial register A,
5-bit shift
From serial register A,
no shift
From serial register A,
5-bit shift
ECT for
Commutation
N/A
From serial register A,
18 bits, no shift,
Offset=ST-18
From serial register A,
18 bits, no shift,
Offset=ST-18
Note
ST is the Singleturn resolution (in bits) for rotary encoders. Similarly,
this would be the protocol resolution (in bits) for linear scales.
The position and velocity pointers are then assigned to the “ECT for position” result:
Parameter
Technique 1/2/3
Position (Ixx03)
@
ECT position result
Velocity (Ixx04)
@
ECT position result (typically, with single source feedback)
Commutation Source And Type (for commutated motors, e.g. brushless)
With technique 1, if the Sing Multiturn data bits fulfill 24 bits and are contiguous, then serial data
register A can be used as the commutation source. Otherwise, the resulting register from the ECT for
position is used for commutation (requires special settings for the commutation cycle size).
With techniques 2 and 3, the feedback source for commutation should come from its dedicated ECT.
Parameter
Technique 1
Technique 2/3
Commutation
Source (Ixx83)
@
serial data register A if ST+MT ≥ 24 bits
@
commutation
ECT result
@
ECT position result if ST+MT < 24 bits
Commutation
Type (Ixx01)
= 3 (from Y register) if ST+MT ≥ 24 bits
=1 (from X register)
= 1 (from X register) if ST+MT < 24 bits
Note
Special considerations should be made if the Singleturn (ST) and
Multiturn (MT) data bits are NOT contiguous (in consecutive fields).
Contact Delta Tau for assistance with these special cases.
Note
Multiturn MT is equal to zero for encoders which do not possess
Multiturn data bits.
Summary of Contents for Geo Brick
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