Power Brick Controller User Manual
Connections and Software Setup
66
Kawasaki Configuration Example
Serial Encoder Control
– Kawasaki
No trigger delay, rising edge of phase, and 2.5 MHz transmission.
Bit #:
Binary:
Hex ($):
Serial Encoder Command
– Kawasaki
Bit #:
Binary:
Hex ($):
Serial Data Registers
– Kawasaki
The resulting position data, status, and error bits for Kawasaki are found in the following Serial Data
Registers:
PowerBrick[
i
].Chan[
j
].SerialEncDataA
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
Multi-Turn Position
Correction
Single-Turn Position
Interpolated
Position
PowerBrick[
i
].Chan[
j
].SerialEncDataB
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
Alarm Code
Multi-Turn Position
Bit #
Alarm code
24
Interpolator error
25
Absolute track error
26
Busy flag
Ti
m
eou
t
Er
r.
C
R
C
E
rr
.
C
od
ing
E
rr
.
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 1
0 0 0 0 0 0 0 0
0 0 0 0
0 0 0 0 0 0 0 0
1 0 1 0
0
1
0
0
0
0
0
A
M
o
d
e
T
ri
g
E
n
a
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 1
0 0 0 0 0 0 0 0
0 0 0 0
0
0
0
0
1
0
0
0
0: Rising
1: Falling
= Delay
µsec
x f
SerialMHz
Protocol: =A Kawasaki
PowerBrick[0].SerialEncCtrl = $100000A
PowerBrick[0].Chan[0].SerialEncCmd = $1000
PowerBrick[0].Chan[0].SerialEncEna = 1
