Geo Brick Drive User Manual
Pinouts and Software Setup
92
SSI Data Registers
The SSI data is conveyed into 4 memory locations; Serial Encoder Data A, B, C, and D.
The Serial Encoder Data A register holds the 24 bits of the encoder position data. If the data exceeds the
24 available bits in this register, the upper overflow bits are LSB justified and readable in the Serial
Encoder Data B, which also holds the parity error flag.
Serial Encoder Data C, and D registers are reserved and always read zero.
Serial Encoder Data B
Serial Encoder Data A
23
[22:08]
[07:0]
[23:0]
Parity Err
Position Data [31:24]
Position Data [23:0]
SSI Encoder Data A SSI Encoder Data B
Channel 1
Y:$78B20
Y:$78B21
Channel 2
Y:$78B24
Y:$78B25
Channel 3
Y:$78B28
Y:$78B29
Channel 4
Y:$78B2C
Y:$78B2D
Channel 5
Y:$78B30
Y:$78B31
Channel 6
Y:$78B34
Y:$78B35
Channel 7
Y:$78B38
Y:$78B39
Channel 8
Y:$78B3C
Y:$78B3D
Data Registers C and D are listed here for future use and documentation purposes only. They do not
pertain to the SSI setup and always read zero.
SSI Encoder Data C SSI Encoder Data D
Channel 1
Y:$78B22
Y:$78B23
Channel 2
Y:$78B26
Y:$78B27
Channel 3
Y:$78B2A
Y:$78B28
Channel 4
Y:$78B2E
Y:$78B2F
Channel 5
Y:$78B32
Y:$78B33
Channel 6
Y:$78B36
Y:$78B37
Channel 7
Y:$78B3A
Y:$78B38
Channel 8
Y:$78B3E
Y:$78B3F
Summary of Contents for Geo Brick
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