Delta Tau PBC Series, Справочник по аппаратуре

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Power Brick Controller User Manual
Connections and Software Setup 53
EnDat 2.1/2.2 Configuration Example
Serial Encoder Control
– EnDat 2.1/2.2
No trigger delay, rising edge of phase, and 2.0 MHz transmission.
Bit #:
Binary:
Hex ($):
Serial Encoder Command
– EnDat 2.1/2.2
The DSPGate3 interface to EnDat supports four 6-bit command codes:
o
000111 ($7) for reporting position (EnDat2.1/2.2).
o
101010 ($2A) for resetting the encoder (EnDat2.1/2.2).
o
111000 ($38) for reporting position with possible additional information (EnDat 2.2 only)
o
101101 ($2D) for resetting the encoder (EnDat 2.2 only)
Note
By the EnDat standard, EnDat 2.2 encoders should be able to accept
and process EnDat 2.1 command codes. However, not all encoders
sold as meeting the EnDat 2.2 standard can do this.
Note
With the Power Brick Controller, EnDat additional information is
supported via the (optional) ACC-84B serial interface.
A 37-bit EnDat 2.2 encoder for continuous position reporting.
000111 ($07): Report Position
101010 ($2A): Reset Encoder
111000 ($38): Report Position w/ possible add’l info (EnDat 2.2 only)
Bit #:
Binary:
Hex ($):
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 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1
0 1 0 0 0 0 0 3
D
el
ay
Com
pe
ns
at
ion
101101 ($2D): Reset Encoder (EnDat 2.2 only)
Command Code
M
o
d
e
Tr
ig
E
na
Bit Length
(Resolution)
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 1 1 1 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0 1
0 0 0 7 1 0 2 5
0: Rising
1: Falling
= Delay
µsec
x f
SerialMHz
Protocol: =3 EnDat
PowerBrick[0].SerialEncCtrl = $1000003
PowerBrick[0].Chan[0].SerialEncCmd = $71025
PowerBrick[0].Chan[0].SerialEncEna = 1