Справочник Пользователя для Delta Tau GEO BRICK LV
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
=0 Y-Register
Bits16-21: Number of Bits to read
Ixx91
Binary:
Hex($):
0
0
0 0 0 0 0 0 0 0
0
0
0 0 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;
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.
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).
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.
only relevant ones. The lower 16 bits are reserved and should always
be left at zero.