Geo Brick Drive User Manual
Pinouts and Software Setup
91
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.
[23:16]
15
14
13
12
11
10
[9:6]
[5:0]
Parity
Type
Trigger
Mode
Trigger
Enable
GtoB
Rx data ready
/Senc Mode
PositionBits/
Resolution
Bit
Type Default
Name
Description
[23:16]
R
0x00
Reserved
Reserved and always reads zero.
[15:14] R/W
0x00
Parity Type
Parity Type of the received data:
00=None 10=Even
01=Odd 11=Reserved
[13]
R/W
0
Trigger Mode
Trigger Mode to initiate communication:
0= continuous trigger
1= one-shot trigger
All triggers occur at the defined Phase/Servo clock edge and
delay setting.
[12]
R/W
0
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]
R/W
0
Convert G to
B
Gray code to Binary conversion: 0=Binary
1=Gray
[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
0
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.
[09:06]
R
0x0
Reserved
Reserved and always reads zero.
[05:00]
W
0x00
Position Bits
This bit field is used to define the number of position data
bits or encoder resolution:
Range is 12 – 32 (001100 –100000)
Содержание Geo Brick
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Страница 287: ...Geo Brick Drive User Manual Appendix A 287 Outputs J6 J7 603793 109 and earlier Outputs J6 J7 603793 10A and later...
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