Delta Tau Power PMAC Clipper, Руководство пользователя

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Power PMAC Clipper User Manual
Connections and Software Setup
46

Bit #13 specifies the trigger mode. Typically set to 0 for continuous (on-going position).

Bit #12 is the trigger enable bit, must be set to 1 to trigger.

Bit #11 specifies whether a Gray to Binary conversion is necessary.

Bit #10 is a read-only bit.

Bits [9 – 6] are status bits.

Bits [5 – 0] specify the encoder protocol resolution (in bits).
SSI
Bit #:
Binary:
0
Bit Length
(Resolution)
Hex ($):
1 2 3
0 0 0 0
4 5 6 7
0 0 0 0
8 9 10 11
0 0 0 0
12 13 14 15
0 0 0 0
16 17 18 19
0 0 0 0
20 21 22 23
0 0 0 0
24 25 26 27
0 0 0 0
28 29 30 31
0 0 0 0
0 0 0 0 0 0 0 0
Status
Bits
D
at
aR
d
y
G
t
o
B
Tr
ig
E
n
a
M
o
d
e
Parity Command
Encoder Dependent
0 for SSI
00: None
01: Odd
10: Even
0: Continuous
1: One Shot 0: Disable
1: Enable
0: No Conversion
1: Gray to Binary
Read Only
Single Turn + Multi
Turn
EnDat
In this example, a 37-bit (25-bit Single-Turn, 12-bit Multi-Turn) EnDat 2.2 encoder configuration.
Bit #:
Binary:
0
Bit Length
(Resolution)
Hex ($):
1 2 3
1 0 1 0
4 5 6 7
0 1 0 0
8 9 10 11
0 0 0 0
12 13 14 15
1 0 0 0
16 17 18 19
1 1 1 0
20 21 22 23
0 0 0 0
24 25 26 27
0 0 0 0
28 29 30 31
0 0 0 0
5 2 0 1 7 0 0 0
Status
Bits
D
at
aR
d
y
G
t
o
B
Tr
ig
E
n
a
M
o
d
e
Parity Command
$7: Report position
$2A: Reset Encoder
00: None
01: Odd
10: Even
0: Continuous
1: One Shot 0: Disable
1: Enable
0: No Conversion
1: Gray to Binary
Read Only
Single Turn + Multi
Turn
Serial Data Registers
The resulting serial encoder – position – data is found in the serial data registers A, and B.