Geo Brick Drive User Manual
Pinouts and Software Setup
96
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
The Global Control
register is used to program the serial encoder interface clock frequency. SENC_CLK
is the serial data clock transmitted from the Brick to the encoder. It is used by the encoder to clock in data
transmitted from the Brick, and clock out data from the encoder:
M
N Serial Clock Frequency
0
0
4.0 MHz
0
2
1.0 MHz
0
3
500 KHz
0
4
250 KHz
… …
…
Default Settings M=0, N=2 => 1 MHz transfer rate
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
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
0x2
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= PhaseClock
1= ServoClock
[08]
R/W
0
TriggerEdge
Active clock edge select: 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
0x3
ProtocolCode
This read-only bit field is used to read the serial encoder
interface protocol supported by the FPGA. A value of
0x3
defines this protocol as
EnDat
.
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...
