Geo Brick Drive User Manual
Pinouts and Software Setup
125
Global Control Registers
X:$78BnF (default value: $002003)
where n=2 for axes 1-4
n=3 for axes 5-8
Global Control Register
Axes 1-4
X:$78B2F
Axes 5-8
X:$78B3F
Note
With the Yaskawa option, the Global Control Register is pre-set and
need not be changed.
[23-16]
[15-12]
11
10
9
8
7 6 5 4 3 2 1 0
M Divisor
N Divisor
Reserved
Trig.
Clock
Trig.
Edge
Trigger
Delay
Protocol
Code
0 0 0 0 0 0 0 0 0 0 0 0
0
0
0
0
0 0 0 0 0 1 1 0
0
0
0
0
0
6
Bit
Type Default
Name
Description
[23:16] R/W
0x00
M_Divisor
Intermediate
clock
frequency
for
SER_Clock.
The
intermediate clock is generated from a (M+1) divider clocked
at 100 MHz.
[15:12] R/W
0x0
N_Divisor
Final clock frequency for SER_Clock. The final clock is
generated from a
N
2
divider clocked by the intermediate
clock.
[11:10]
R
00
Reserved
Reserved and always reads zero.
[09]
R/W
0
TriggerClock
Trigger
clock
select
for
initiating
serial
encoder
communications:
0= PhaseClock
1= ServoClock
[08]
R/W
0
TriggerEdge
Active clock edge select for the trigger clock:
0= rising edge
1= falling edge
[07:04] R/W
0x0
TriggerDelay
Trigger delay program relative to the active edge of the
trigger clock. Units are in increments of 20 usec.
[03:00]
R
ProtocolCode
This read-only bit field is used to read the serial interface
protocol supported by the FPGA.
A value of $5 defines this protocol as Yaskawa Sigma I.
A value of $6 defines this protocol as Yaskawa Sigma II.
Содержание Geo Brick
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Страница 286: ...Geo Brick Drive User Manual Appendix A 286 APPENDIX A Schematic Samples Watchdog X15 Inputs J6 J7...
Страница 287: ...Geo Brick Drive User Manual Appendix A 287 Outputs J6 J7 603793 109 and earlier Outputs J6 J7 603793 10A and later...
Страница 288: ...Geo Brick Drive User Manual Appendix A 288 Limits Flags J4...
