Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
PinOuts and Software Setup
74
Setting up HiperFace Encoders Example
An 8-axis Geo Brick LV is connected to eight HiperFace encoders, serial data is programmed to 9600
(M=129, N=2) baud rate for all eight channels:
(M=129, N=2) baud rate for all eight channels:
M Divisor
Bit #:
Description:
Binary:
23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
N Divisor
Trigger Delay
Protocol
=0 Rising Edge
=1 Falling Edge
Typically =0
=0 Trigger on Phase
=1 Trigger on Servo
$4 for
HiperFace
0
0
Hex ($):
1
0
0
0
0
0
0
1
0
0
1
0
0
0
0
0
0
0
0
0
0
1
0
0
8
1
2
0
0
4
cl
o
ck
Ed
ge
Note
The only user configurable HiperFace Global Control field is the baud
rate (M and N divisors).
rate (M and N divisors).
The channel control registers are programmed to read position ($42):
Bit #:
Description:
Binary:
23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
Encoder Address
Hex ($):
0
1
0
0
0
0
1
0
0
0
1
1
0
1
0
0
1
1
1
1
1
1
1
1
4
2
3
4
F
F
Command code
0
0
Tr
ig
ge
r
M
o
d
e
Tr
ig
ge
r
En
ab
le
0
Se
n
c
M
o
d
e
0
0
= $42 Read position
= $50 Encoder Status
= $53 Reset Encoder
= $50 Encoder Status
= $53 Reset Encoder
=0 Continuous
=1 One shot
=1 One shot
=0 Disabled
=1 Enabled
=1 Enabled
=0 Disabled
=1 Enabled
=1 Enabled
Always $FF for
General Broadcast
Note
The only user configurable HiperFace Channel Control field is
the command code:
the command code:
$42 to read position
$50 to read encoder status
$53 to reset encoder