Geo Brick Drive User Manual
Pinouts and Software Setup
80
Channel Control Registers
X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC
where: n=2 for axes 1-4
n=3 for axes 5-8
Channel 1
X:$78B20
Channel 5
X:$78B30
Channel 2
X:$78B24
Channel 6
X:$78B34
Channel 3
X:$78B28
Channel 7
X:$78B38
Channel 4
X:$78B2C
Channel 8
X:$78B3C
Each channel has its own Serial Encoder Command Control Register defining functionality parameters.
Parameters such as setting the number of position bits in the serial bit stream, enabling/disabling channels
through the
SENC_MODE
(
when this bit is cleared, the serial encoder pins of that channel are tri-stated),
enabling/disabling communication with the encoder using the trigger control bit. An 8-bit mode command
is required for encoder communication. Currently, three HiperFace commands are supported; read
encoder position ($42), read encoder status ($50) and Reset encoder($53).
[23:16]
[15:14]
13
12
11
10
[9:8]
[7:0]
Command
Code
Trigger
Mode
Trigger
Enable
Rxdataready
SencMode
Encoder
Address
Bit
Type Default
Name
Description
[23:16]
W
0x42
Command
Code
$42 – Read Encoder Position
$50 – Read Encoder Status
$53 – Reset Encoder
[15:14]
0
Reserved
Reserved and always reads zero.
[13]
R/W
0
Trigger Mode
Trigger Mode to initiate communication:
0= continuous trigger
1= one-shot trigger - for HiperFace
All triggers occur at the defined Phase/Servo clock edge and
delay setting. Due to HiperFace protocol speed limitation,
only one-shot trigger mode is used.
[12]
R/W
1
Trigger Enable
0= disabled
1= enabled
This bit must be set for either trigger mode. If the Trigger
Mode bit is set for one-shot mode, the hardware will
automatically clear this bit after the trigger occurs.
[11]
0
Reserved
Reserved and always reads zero.
[10]
R
0
RxData Ready
This read-only bit provides the received data status. It is low
while the interface logic is communicating (busy) with the
serial encoder. It is high when all the data has been received
and processed.
W
1
SENC_MODE
This write-only bit is used to enable the output drivers for
the SENC_SDO, SENC_CLK, SENC_ENA pins for each
respective channel.
[09:08]
0x00
Reserved
Reserved and always reads zero.
[07:00] R/W
0xFF
Encoder
address
This bit field is normally used to define the encoder address
transmitted with each command. Delta Tau does not support
multiple encoders per channel; a value of $FF sends a
general broadcast.
Содержание Geo Brick
Страница 5: ...4...
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...
