Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
PinOuts and Software Setup
97
W
0
SENC_MODE
This write-only bit is used to enable the output drivers for
the SENC_SDO, SENC_CLK, SENC_ENA pins for each
respective channel.
the SENC_SDO, SENC_CLK, SENC_ENA pins for each
respective channel.
[09]
0x0
Reserved
Reserved and always reads zero.
[08:06] R/W
000
Status
Bits
This bit field is used to define the number of status bits in the
encoder data. The valid range of settings is 0 – 6 (000 – 110). The
status bits are assumed to always follow after the position data and
before the CRC.
encoder data. The valid range of settings is 0 – 6 (000 – 110). The
status bits are assumed to always follow after the position data and
before the CRC.
[05:00]
W
0x00
Position Bits
This bit field is used to define the number of position data
bits or encoder resolution:
Range is 12 – 40 (001100 –101000)
bits or encoder resolution:
Range is 12 – 40 (001100 –101000)
The position bits are assumed to be in binary MSB-first format:
$12 for 18-bit | $1A for 26-bit | $20 for 32-bit
$12 for 18-bit | $1A for 26-bit | $20 for 32-bit
BiSS Data Registers
The BiSS data is conveyed into 4 memory locations; Serial Encoder Data A, B, C, and D.
The Serial Encoder Data A register holds the 24 bits of the encoder position data. If the data exceeds the
24 available bits in this register, the upper overflow bits are LSB justified and readable in the Serial
Encoder Data B, which also holds status and error bits. Serial Encoder Data C, and D registers are
reserved and always read zero.
The Serial Encoder Data A register holds the 24 bits of the encoder position data. If the data exceeds the
24 available bits in this register, the upper overflow bits are LSB justified and readable in the Serial
Encoder Data B, which also holds status and error bits. Serial Encoder Data C, and D registers are
reserved and always read zero.
BiSS Data B
BiSS Data A
23
22
[21:16]
[15:0]
[23:0]
TimeOut Err
CRC Err
Status Data
Position Data [39:24]
Position Data [23:0]
BiSS Encoder Data A BiSS Encoder Data B
Channel 1
Y:$78B20
Y:$78B21
Channel 2
Y:$78B24
Y:$78B25
Channel 3
Y:$78B28
Y:$78B29
Channel 4
Y:$78B2C
Y:$78B2D
Channel 5
Y:$78B30
Y:$78B31
Channel 6
Y:$78B34
Y:$78B35
Channel 7
Y:$78B38
Y:$78B39
Channel 8
Y:$78B3C
Y:$78B3D
Data Registers C and D are listed here for future use and documentation purposes only. They do not
pertain to the BiSS setup and always read zero.
BiSS Encoder Data C BiSS Encoder Data D
Channel 1
Y:$78B22
Y:$78B23
Channel 2
Y:$78B26
Y:$78B27
Channel 3
Y:$78B2A
Y:$78B28
Channel 4
Y:$78B2E
Y:$78B2F
Channel 5
Y:$78B32
Y:$78B33
Channel 6
Y:$78B36
Y:$78B37
Channel 7
Y:$78B3A
Y:$78B38
Channel 8
Y:$78B3E
Y:$78B3F