User manual

Geo Brick Drive User Manual
Pinouts and Software Setup 82
Setting up HiperFace Encoders Example
An 8-axis Geo Brick Drive is connected to eight HiperFace encoders, serial data is programmed to 9600
(M=129, N=2) baud rate for all eight channels:
M Divisor
Bit #:
Description:
Binary:
23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
N Divisor Trigger Delay Protocol
=0 Rising Edge
=1 Falling Edge
Typically =0
=0 Trigger on Phase
=1 Trigger on Servo
$4 for
HiperFace
0 0
Hex ($):
1 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0
8 1 2 0 0 4
clock
Edge
Note
The only user configurable HiperFace Global Control field is the baud
rate (M and N divisors).
The channel control registers are programmed to read position ($42):
Bit #:
Description:
Binary:
23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Encoder Address
Hex ($):
0 1 0 0 0 0 1 0 0 0 1 1 0 1 0 0 1 1 1 1 1 1 1 1
4 2 3 4 F F
Command code 0 0
Trigger
Mode
Trigger
Enable
0
Senc
Mode
0 0
= $42 Read position
= $50 Encoder Status
= $53 Reset Encoder
=0 Continuous
=1 One shot
=0 Disabled
=1 Enabled
=0 Disabled
=1 Enabled
Always $FF for
General Broadcast
Note
The only user configurable HiperFace Channel Control field is
the command code: $42 to read position
$50 to read encoder status
$53 to reset encoder