Delta Tau GEO BRICK LV User Manual

Geo Brick LV User Manual

PinOuts and Software Setup

104

Counts per User Units (Technique 1)

With technique 1, the user should expect to see 2

counts per revolution for rotary encoders, and

1/Resolution counts per user unit for linear scales in the motor position window.

Examples:

25-bit rotary encoder (13-bit Singleturn): 2

= 8,192 cts/rev

1-micron linear scale: 1/0.001= 1,000 cts/mm

Absolute Power-On Position Read (Technique 1)

With Technique 1, the absolute power-on read can be performed using PMAC’s automatic settings
(Ixx80, Ixx10 and Ixx95).

Example 1: Channel 1 driving a 25-bit (13-bit single turn, 12-bit multi-turn) rotary serial encoder:

I180=2

; Absolute power-on read enabled

I110=$78B20

; Absolute power-on position address (ch1 serial data register A)

I195=$990000

; Parallel Read, 25 bits, Signed, from Y-Register –User Input

Bit 23: =1 Signed

=0 Unsigned

1 0 0 1 1 0 0 1

Bit 22: =1 X-Register
=0 Y-Register

Bits16-21: Number of Bits to read

(Resolution 25 bits or 011001 )

Ixx95

Binary:

Hex($):

0 0 0 0 0 0 0 0

Bits 0-15: reserved

(always 0)

In this mode, PMAC reads and reports 25 bits from the consecutive serial data registers:

Serial Register A

(Ch1 Y:$78B20)

Serial Register B

(Ch1 Y:$78B21)

25 bits

With the setting of Ixx80=2, the actual position is reported automatically on Power-up. Otherwise, a #1$*
command is necessary to read and report the absolute position.

Example 2: Channel 1 driving an 18-bit (18-bit Singleturn, No Multiturn) absolute rotary serial encoder,
or a similar protocol resolution (18 bits) linear scale: