Delta Tau GEO BRICK DRIVE Manuel D’Utilisation
Geo Brick Drive User Manual
Pinouts and Software Setup
126
Channel Control Registers
X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC
where: n=2 for axes 1-4
n=3 for axes 5-8
Channel 1 X:$78B20 Channel 5 X:$78B20
Channel 2 X:$78B24 Channel 6 X:$78B34
Channel 3 X:$78B28 Channel 7 X:$78B38
Channel 4 X:$78B2C Channel 8 X:$78B3C
Channel 2 X:$78B24 Channel 6 X:$78B34
Channel 3 X:$78B28 Channel 7 X:$78B38
Channel 4 X:$78B2C Channel 8 X:$78B3C
Bits 10, 12, and 13 are the only fields to be configured in the Channel Control Registers with the
Yaskawa option. The rest is protocol information. This has to be done in a startup PLC to execute once on
power up.
[23:14]
13
12
11
10
[9:0]
Reserved
Trig.
Mode
Trig.
Enable
RxData Ready/
SENC
Reserved
Bit
Type Default
Name
Description
[23:14]
R
0x000
Reserved
Reserved and always reads zero.
[13]
R/W
0
Trigger Mode
Trigger Mode to initiate communication:
0= continuous trigger
1= one-shot trigger
All triggers occur at the defined Phase/Servo clock edge and
delay setting. See Global Control register for these settings.
0= continuous trigger
1= one-shot trigger
All triggers occur at the defined Phase/Servo clock edge and
delay setting. See Global Control register for these settings.
[12]
R/W
0
Trigger
Enable
Enable trigger for serial encoder communications:
0= disabled
1= enabled
This bit must be set for either trigger mode. If the Trigger
Mode bit is set for one-shot mode, the hardware will
automatically clear this bit after the trigger occurs.
0= disabled
1= enabled
This bit must be set for either trigger mode. If the Trigger
Mode bit is set for one-shot mode, the hardware will
automatically clear this bit after the trigger occurs.
[11]
R/W
0
Reserved
Reserved and always reads zero.
[10]
R
0
RxData Ready
This read-only bit provides the received data status. It is low
while the interface logic is communicating (busy) with the
serial encoder. It is high when all the data has been received
and processed.
while the interface logic is communicating (busy) with the
serial encoder. It is high when all the data has been received
and processed.
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. It also directly drives the respective
SENC_MODE pin for each channel.
the SENC_SDO, SENC_CLK, SENC_ENA pins for each
respective channel. It also directly drives the respective
SENC_MODE pin for each channel.
[09:00]
R
0x0
Reserved
Reserved and always reads zero.