Geo Brick Drive User Manual
Pinouts and Software Setup
90
Global Control Registers
X:$78BnF (Default value: $630002)
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
The Global Control
register is used to program the serial encoder interface clock frequency
SER_Clock
and configure the serial encoder interface trigger clock.
SER_Clock
is generated from a two-stage divider
clocked at 100 MHz:
M N
Clock Frequency
49 0
2.0 MHz
99 0
1.0 MHz
99 1
500.0 KHz
99 2
250.0 KHz
… …
Default Settings: M=99, N=0 => 1 MHz transfer rates
There are two external trigger sources; phase and servo. Bits [9:8] in the Global Control
register are used
to select the source and active edge to use as the internal serial encoder trigger. The internal trigger is
used by all four channels to initiate communication with the encoder. To compensate for external system
delays, this trigger has a programmable 4-bit delay setting in 20 μsec increments.
23--16
15--12
11 10
9
8
7
6
5
4
3
2
1
0
M_Divisor
N_Divisor
Trigger Clock
Trigger Edge
Trigger Delay
Protocol Code
Bit
Type Default
Name
Description
[23:16] R/W
0x63
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:
=0, trigger on Phase Clock
=1, trigger on Servo Clock
[08]
R/W
0
TriggerEdge
Active clock edge select:
=0, select rising edge
=1, select 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
0x2
ProtocolCode
This read-only bit field is used to read the serial encoder
interface protocol supported by the FPGA. A value of
$2
defines this as
SSI
protocol.
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...
