Delta Tau GEO BRICK LV ユーザーズマニュアル
Geo Brick LV User Manual
PinOuts and Software Setup
91
EnDat Data Registers
The EnDat data is conveyed into 4 memory locations; EnDat Data A, B, C, and D.
The EnDat 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 EnDat Data B
register, which also holds error flags. The error bit flag is always returned by the encoder, except for a
Reset command. The CRC error bit is set if the return data fails the CRC verification. The timeout error
flag is set if the SEIGATE3 does not receive a response from the encoder.
EnDat Data C, and D registers are reserved and always read zero.
The EnDat 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 EnDat Data B
register, which also holds error flags. The error bit flag is always returned by the encoder, except for a
Reset command. The CRC error bit is set if the return data fails the CRC verification. The timeout error
flag is set if the SEIGATE3 does not receive a response from the encoder.
EnDat Data C, and D registers are reserved and always read zero.
EnDat Data B
EnDat Data A
23
22
21
[20:16]
[15:0]
[23:0]
TimeOut Err
CRC Err
Err flag
Position Data [39:24]
Position Data [23:0]
EnDat Data A EnDat 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
EnDat Registers C and D are listed here for future use and documentation purposes only. They do not
pertain to the EnDat setup and always read zero.
EnDat Data C EnDat 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