Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
PinOuts and Software Setup
92
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.
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:
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
$3 for
EnDat
EnDat
0
0
Hex ($):
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
0
0
0
0
3
cl
o
ck
Ed
ge
Field
Value
Notes
Global Control Word
M divisor
=0
Hex 0x00
$000003
N divisor
=0
Hex 0x0
Trigger clock
=0
Trigger on Phase (recommended)
Trigger Edge
=0
Rising edge (recommended)
Trigger Delay =0
No delay (typical)
Protocol Code =3
Hex 0x3, EnDat
Channel Control Register
The Channel Control register is a 24-bit hexadecimal word which is set up as follows:
Bit #:
Description:
Binary:
23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
Bit Length
(Resolution)
Hex ($):
0
0
1
1
1
0
0
0
0
0
0
1
0
1
0
0
0
0
1
0
0
1
0
1
3
8
1
4
2
5
Command Code
Tr
ig
ge
r
M
o
d
e
Tr
ig
ge
r
En
ab
le
0
Se
n
c
M
o
d
e
Reserved
(always 0)
=0 Continuous
=1 One shot
=1 One shot
=0 Disabled
=1 Enabled
=1 Enabled
=0 Disabled
=1 Enabled
=1 Enabled
Encoder Resolution
(ST+MT)
0
0
0
0
=111000 ($38) Send Position (EnDat 2.2 only)
=010101 ($15) Reset (EnDat 2.2 only)
=010101 ($15) Reset (EnDat 2.2 only)
=000111 ($07) Send Position (EnDat 2.1 / 2.2)
=101010 ($2A) Reset (EnDat 2.1 / 2.2)
=101010 ($2A) Reset (EnDat 2.1 / 2.2)