INENC - Input encoder¶
The INENC block handles the encoder input signals
Parameters¶
| Name | Dir | Type | Description |
|---|---|---|---|
| PROTOCOL | R/W | Enum | 0 - Protocol type = Quadrature
1 - Protocol type = SSI
2 - Protocol type = BISS
3 - Protocol type = enDat
|
| CLK_PERIOD | W | UInt32 | Clock rate |
| FRAME_PERIOD | W | UInt32 | Frame rate |
| BITS | W | UInt63 | Number of bits |
| SETP | In | Pos | Set point |
| RST_ON_Z | W | Bit | Zero position on Z rising edge |
| STATUS | R | Enum | 0 - Encoder status = All OK
1 - Encoder status = Link Down
2 - Encoder status = Encoder Error
3 - Encoder status = Link Down and Error
|
| DCARD+MODE | R | Daughter card jumper mode | |
| A | Out | Bit | Quadrature A if in incrememtal mode |
| B | Out | Bit | Quadrature B if in incremental mode |
| Z | Out | Bit | Z index channel if in incremental mode |
| CONN | Out | Bit | Signal detected |
| TRANS | Out | Bit | Position transition |
| VAL | Out | Pos | Current position |