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Power Brick Controller User Manual
SSI Configuration Example
Serial Encoder Control – SSI
No trigger delay, rising edge of phase, and 2.5 MHz transmission.
M = 39 ($27)
N = 0
M Divisor
31
30
29
28
27
26
Bit #:
Binary:
0
0
1
0
0
1
Hex ($):
2
Serial Encoder Command – SSI
A 25-bit SSI encoder in Gray code, with odd parity.
31
30
29
28
27
26
Bit #:
Binary:
0
0
0
0
0
0
Hex ($):
0
PowerBrick[0].SerialEncCtrl = $27000002
PowerBrick[0].Chan[0].SerialEncCmd = $5819
PowerBrick[0].Chan[0].SerialEncEna = 1
Serial Data Registers – SSI
The resulting position data, status, and error bits for SSI are found in the following Serial Data Registers:
31
30
29
28
27
26
25
31
30
29
28
27
26
25
Parity Error
Connections and Software Setup
0: Phase
f
= 2.5 MHz
Serial
1: Servo
N Divisor
25
24
23
22
21
20
19
18
1
1
0
0
0
0
0
7
0
00: none
01: Odd
10: Even
25
24
23
22
21
20
19
18
0
0
0
0
0
0
0
0
0
PowerBrick[i].Chan[j].SerialEncDataA
24
23
22
21
20
19
18
17
Possible Single/Multi-Turn Position
PowerBrick[i].Chan[j].SerialEncDataB
24
23
22
21
20
19
18
17
0: Rising
= Delay
µsec
1: Falling
Trigger Delay
17
16
15
14
13
12
11
0
0
0
0
0
0
0
0
0
0
0: Continuous
0: Disable
1: One Shot
1: Enable
Parity
17
16
15
14
13
12
11
0
0
0
0
1
0
1
1
0
5
16
15
14
13
12
11
10
16
15
14
13
12
11
10
Protocol: =2 SSI
x f
SerialMHz
Protocol
10
9
8
7
6
5
4
3
0
0
0
0
0
0
0
0
0
0
0: No Conversion
Single Turn +
1: Gray to Binary
Multi Turn = 25 ($19)
Bit Length
(Resolution)
10
9
8
7
6
5
4
3
0
0
0
0
0
0
1
1
8
1
9
8
7
6
5
4
3
9
8
7
6
5
4
3
2
1
0
0
1
0
2
2
1
0
0
0
1
9
2
1
0
2
1
0
51
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