Delta Tau PBC Series, Справочник по аппаратуре

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Power Brick Controller User Manual
Connections and Software Setup 50
0: Phase
1: Servo
0: Rising
1: Falling
Serial Encoder Transmission Frequency
Encoder
Protocol
Typically 0
(Units of Serial Clock Cycles)
Bit #:
Binary:
Hex ($):
Serial Encoder Control
The Serial Encoder Control is a 32-bit, 4-channel (1 – 4, or 5 – 8), structure element. It specifies the protocol
type, delay compensation time, trigger edge, trigger clock, and transmission frequency of the 4
serial encoder channels.
Serial Encoder Control Elements
Channels 1 – 4 PowerBrick[0].SerialEncCtrl
Channels 5 – 8 PowerBrick[1].SerialEncCtrl
M Divisor N Divisor
R
es
er
ve
d
C
lo
ck
Ed
ge
Trigger Delay Protocol
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
Bits [31 – 20] specify the serial interface transmission frequency. This frequency (or range) is usually
specified by the encoder manufacturer and programmed by the user or pre-defined by the protocol.
Bit 17 specifies the trigger source; Phase clock is recommended (value 0).
Bit 16 specifies the active edge; rising edge is recommended (value 0).
Bits [15 – 8] specify the trigger delay (in units of serial clock cycles) used to compensate for transmission
over long encoder lines.
Bits [3 – 0] specify the encoder protocol of the serial encoder:
Protocol Value Protocol Value Protocol Value Protocol Value
–
0 Hiperface 4 Panasonic 8
–
12 ($C)
SPI 1 Sigma I 5 Mitutoyo 9
–
13 ($D)
SSI 2 Sigma II/III/V 6 Kawasaki 10 ($A)
–
14 ($E)
EnDat 3 Tamagawa 7
–
11 ($B) SW Ctrl 15 ($F)