User manual

Geo Brick Drive User Manual
Pinouts and Software Setup 121
Absolute Power-On Position Read (Technique 3)
With Technique 3, the absolute power-on read can be performed using PMAC’s automatic settings
(Ixx80, Ixx10 and Ixx95).
Example 1: Channel 1 driving a 32-bit (20-bit single turn, 12-bit multi-turn) rotary serial encoder:
I180=2 ; Absolute power-on read enabled
I110=$78B20 ; Absolute power-on position address (ch1 serial data register A)
I195=$A00000 ; Parallel Read, 32 bits, Signed, from Y-Register –User Input
Bit 23: =1 Signed
=0 Unsigned
1 0 1 0 0 0 0 0
Bit 22: =1 X-Register
=0 Y-Register
Bits16-21: Number of Bits to read
(Resolution 32 bits or 100000 )
Ixx95
Binary:
Hex($): A 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)
In this mode, PMAC reads and reports 32 bits from the consecutive serial data registers:
Serial Data Register A
(Ch1 Y:$78B20)
Serial Data Register B
(Ch1 Y:$78B21)
32 bits
02347
With the setting of Ixx80=2, the actual position is reported automatically on Power-up. Otherwise, a #1$*
command is necessary to read and report the absolute position.
Example 2: Channel 1 driving a 20-bit (20-bit Singleturn, No Multiturn) absolute rotary serial encoder,
or a similar protocol resolution (20 bits) linear scale:
I180=2 ; Absolute power-on read enabled
I110=$78B20 ; Absolute power-on position address (ch1 serial data register A)
I195=$140000 ; Parallel Read, 20 bits, Unsigned, from Y-Register –User Input
Bit 23: =1 Signed
=0 Unsigned
0 0 0 1 0 1 0 0
Bit 22: =1 X-Register
=0 Y-Register
Bits16-21: Number of Bits to read
(Resolution 20 bits or 010100 )
Ixx95
Binary:
Hex($): 1 4
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)
In this mode, PMAC reads and reports 20 bits from the first serial data register:
Serial Data Register A
(Ch1 Y:$78B20)
Serial Data Register B
(Ch1 Y:$78B21)
20 bits
02347
With the setting of Ixx80=2, the actual position is reported automatically on Power-up. Otherwise, a #1$*
command is necessary to read and report the absolute position.