Download Geo Brick LV User Manual

Geo Brick LV User Manual
EnDat Control Registers Setup Example
Channel 1 is driving a 37-bit (25-bit Singleturn, 12-bit Multiturn) EnDat 2.2 encoder. The encoder
requires a 4 MHz serial clock.
Global Control Register
The Global Control register is a 24-bit hexadecimal word which is set up as follows:
=0 Rising Edge
=1 Falling Edge
=0 Trigger on Phase
=1 Trigger on Servo
0
clock
Edge
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
1
1
Description:
Bit #:
Binary:
$3 for
EnDat
Typically =0
M Divisor
0
Hex ($):
0
0
0
N Divisor
0
0
0
0
0
0
0
Field
M divisor
N divisor
Trigger clock
Trigger Edge
Trigger Delay
Protocol Code
Value
=0
=0
=0
=0
=0
=3
0
0
0
0
0
0
Trigger Delay
0
Protocol
0
3
Notes
Global Control Word
Hex 0x00
Hex 0x0
Trigger on Phase (recommended)
Rising edge (recommended)
No delay (typical)
Hex 0x3, EnDat
$000003
Channel Control Register
The Channel Control register is a 24-bit hexadecimal word which is set up as follows:
=0 Disabled
=1 Enabled
Description:
Bit #:
Binary:
Hex ($):
0
0
Command Code
0
0
Trigger
Mode
Trigger
Enable
=0 Continuous
=1 One shot
=000111 ($07) Send Position (EnDat 2.1 / 2.2)
=101010 ($2A) Reset (EnDat 2.1 / 2.2)
=0 Disabled
=1 Enabled
0
Senc
Mode
=111000 ($38) Send Position (EnDat 2.2 only)
=010101 ($15) Reset (EnDat 2.2 only)
Encoder Resolution
(ST+MT)
Reserved
(always 0)
Bit Length
(Resolution)
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
1
0
0
1
0
1
0
1
1
1
3
Connections And Software Setup
0
0
8
0
0
0
0
1
1
0
1
4
2
5
89