Power Brick Controller User Manual
Connections and Software Setup
50
0: Phase
1: Servo
0: Rising
1: Falling
Serial Encoder Transmission Frequency
Encoder
Protocol
Typically 0
(Units of Serial Clock Cycles)
Bit #:
Binary:
Hex ($):
Serial Encoder Control
The Serial Encoder Control is a 32-bit, 4-channel (1 – 4, or 5 – 8), structure element. It specifies the protocol
type, delay compensation time, trigger edge, trigger clock, and transmission frequency of the 4
serial encoder channels.
Serial Encoder Control Elements
Channels 1 – 4
PowerBrick[0].SerialEncCtrl
Channels 5 – 8
PowerBrick[1].SerialEncCtrl
M Divisor
N Divisor
R
es
er
ve
d
C
lo
ck
Ed
ge
Trigger Delay
Protocol
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0
0
0
0
0
0
0
0
0
Bits [31 – 20]
specify the serial interface transmission frequency. This frequency (or range) is usually
specified by the encoder manufacturer and programmed by the user or pre-defined by the protocol.
Bit 17
specifies the trigger source; Phase clock is recommended (value 0).
Bit 16
specifies the active edge; rising edge is recommended (value 0).
Bits [15 – 8]
specify the trigger delay (in units of serial clock cycles) used to compensate for transmission
over long encoder lines.
Bits [3 – 0]
specify the encoder protocol of the serial encoder:
Protocol
Value
Protocol
Value
Protocol
Value
Protocol
Value
–
0
Hiperface
4
Panasonic
8
–
12 ($C)
SPI
1
Sigma I
5
Mitutoyo
9
–
13 ($D)
SSI
2
Sigma II/III/V
6
Kawasaki
10 ($A)
–
14 ($E)
EnDat
3
Tamagawa
7
–
11 ($B)
SW Ctrl
15 ($F)
