User manual

Geo Brick Drive User Manual
Motor Setup 190
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 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; 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.