Delta Tau GEO BRICK LV User Manual

Geo Brick LV User Manual

Motor Setup

189

Setting up Ixx91, the power-on phase position format:

Technique 1

Technique 2/3

(Ixx01=1)

For Ixx01= 3

For Ixx01= 1

= Unsigned, Y-register

ST bits

= Unsigned, X-register,

(ST + 5bit-shift) bits

= Unsigned, X-register,

18 bits

The following diagram displays how Ixx91 is set up:

Bit 23: =1 Signed

=0 Unsigned

0 0 0 0 0 0 0 0

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

Bits16-21: Number of Bits to read

Ixx91

Binary:

Hex($):

0 0 0 0 0 0 0 0

Bits 0-15: reserved

(always 0)



Technique 1:

If Ixx01=3;

Ixx91 is set up for unsigned, Y-register, Singleturn bits.

For example: A 30-bit (18-bit Singleturn, 12-bit Multiturn) rotary encoder would yield Ixx91= $120000.

If Ixx01=1;

Ixx91 is set up for unsigned, X-register, (Singleturn +5) bits.

For example: A 20-bit (20-bit Singleturn, 0-bit Multiturn) rotary encoder, or linear scale with similar
protocol resolution (20 bits) would yield Ixx91= $590000.



Technique 2/3:

Since the commutation is limited to 18 bits, and processed separately in the encoder conversion table,
Ixx91 is always= $520000 (unsigned, X-register, 18 bits).

Note

Ixx91 is a 24-bit hexadecimal word. The upper most two digits are the
only relevant ones. The lower 16 bits are reserved and should always
be left at zero.